지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
이 논문의 연구 히스토리 (11)
2010
2008
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초록· 키워드
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The global dynamic window approach (DWA) is widely used to generate the shortest path of mobile robots considering obstacles and kinematic constraints. However, the dynamic constraints of robots should be considered to generate the minimum-time path. We propose a modified global DWA considering the dynamic constraints of robots. The reference path is generated using A* algorithm and smoothed by cardinal spline function. The trajectory is then generated to follows the reference path in the minimum time considering the robot dynamics. Finally, the local path is generated using the dynamic window which includes additional terms of speed and orientation. Simulation and experimental results are presented to verify the performance of the proposed method.
목차
Abstract
1. 서론
2. DWA (Dynamic Window Approach)
3. 수정된 전역 DWA
4. 시뮬레이션
5. 실험
6. 결론
감사의 글
참고문헌
저자소개
참고문헌 (15)
참고문헌 신청
1. [단행본] - R. Siegwart / 2004 / Introduction to Autonomous Mobile Robots / The MIT Press
2. [학술지(정기간행물)] - D. Fox / 1997 / The dynamic window approach to collision avoidance / IEEE Robotics and Automation Magazine : 23 ~ 33
3. [학술대회논문] - E. Demeester / 2005 / Global dynamic window approach for holonomic and non-holonomic mobile robots with arbitrary cross-section / IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 2694 ~ 2699
4. [학술대회논문] - S. Qinlan / 1993 / Elastic bands: connecting path planning and control / In Proceedings of IEEE Int. Conf. on Robotics and Automation
5. [학술지(정기간행물)] - J. Borenstein / 1999 / The vector field histogram -fast obstacle avoidance for mobile robots / Journal of Robotics and Automation 7 : 278 ~ 288
2. [학술지(정기간행물)] - D. Fox / 1997 / The dynamic window approach to collision avoidance / IEEE Robotics and Automation Magazine : 23 ~ 33
3. [학술대회논문] - E. Demeester / 2005 / Global dynamic window approach for holonomic and non-holonomic mobile robots with arbitrary cross-section / IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 2694 ~ 2699
4. [학술대회논문] - S. Qinlan / 1993 / Elastic bands: connecting path planning and control / In Proceedings of IEEE Int. Conf. on Robotics and Automation
5. [학술지(정기간행물)] - J. Borenstein / 1999 / The vector field histogram -fast obstacle avoidance for mobile robots / Journal of Robotics and Automation 7 : 278 ~ 288
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UCI(KEPA) : I410-ECN-0101-2012-560-004010000