개인구독
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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
- 학술저널
- 저자정보
- 발행연도
- 2014.1
- 수록면
- 101 - 107 (7page)
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초록· 키워드
오류제보하기
Mobile robots use an environment map of its workspace to complete the surveillance task. However grid-based maps that are commonly used map format for mobile robot navigation use a large size of memory for accurate representation of environment. In this reason, grid-based maps are not suitable for path planning of mobile robots using embedded board. In this paper, we present the path planning algorithm that produce a secure path rapidly. The proposed approach utilizes a hybrid map that uses less memory than grid map and has same efficiency of a topological map. Experimental results show that the fast path planning uses only 1.5% of the time that a grid map based path planning requires. And the results show a secure path for mobile robot.
목차
등록된 정보가 없습니다.
참고문헌 (12)
참고문헌 신청
A. I. Eliazar / 2003 / DP-SLAM : Fast, Robust Simultaneous Localization and Mapping Without P r e d e t e rmi n e d Landmarks / Proceeding of International Joint Conference on Arti
A. Yang / 2010 / An Efficient Algorithm for Grid-Based Robotic Path Planning Based on Priority Sorting of Direction Vectors / Life System Modeling and Intelligent Computing 6
H. Durrant-whyte / 2006 / Simultaneous Localization and Mapping : Part I / IEEE Robotics & Automation Magazine 13 (2) : 99 ~ 110
J. K. Park / 2013 / R-Map : A Hybrid Map for Mobile Robot In Ubiquitous Computing Environment / Information Journal 16 (4) : 2599 ~ 2606
M. A. Marzouqi / 2011 / Efficient path planning for searching a 2-D grid-based environment map / Proceedings of IEEE GCC Conference and Exhibition : 116 ~ 119
A. Yang / 2010 / An Efficient Algorithm for Grid-Based Robotic Path Planning Based on Priority Sorting of Direction Vectors / Life System Modeling and Intelligent Computing 6
H. Durrant-whyte / 2006 / Simultaneous Localization and Mapping : Part I / IEEE Robotics & Automation Magazine 13 (2) : 99 ~ 110
J. K. Park / 2013 / R-Map : A Hybrid Map for Mobile Robot In Ubiquitous Computing Environment / Information Journal 16 (4) : 2599 ~ 2606
M. A. Marzouqi / 2011 / Efficient path planning for searching a 2-D grid-based environment map / Proceedings of IEEE GCC Conference and Exhibition : 116 ~ 119
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