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.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2013.10
- 수록면
- 1,500 - 1,503 (4page)
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초록· 키워드
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A new real-time path planning method for mobile robot is proposed based on weighted virtual tangential vector (WVTV) algorithm. The WVTV is obtained by computing weighted sum of virtual tangential vector (VTV) from detected obstacles. It has the property of keeping driving safety and achieve multi object optimization problem with linear combination of several vectors. In spite of these advantages, it is not much general solution to apply any of the mobile robot system. Also, it cannot solve re-entrance of u-shape problem. Our suggested algorithm is considered these pros and cons of WVTV and analyzing the property of obstacle shape, we will have more possibility to solve u-shape problem. Once we classify obstacle as a convex and non-convex, expected route of mobile robot will be identified. Significant performance enhancement of our algorithm is demonstrated by using Matlab simulator modeled by Khepera III for any complex obstacles and mixing any applied u-shape obstacles.
목차
Abstract
1. INTRODUCTION
2. RELATED WORK
3. PROPOSED ALGORITHM
4. SIMULATION RESULTS
5. CONCLUSION
REFERENCES
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