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Noh, Sam H.
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모바일 로봇의 네비게이션을 위한 빠른 경로 생성 알고리즘

Author(s)
Park, Jung KyuJeon, Heung SeokNoh, Sam H.
Issued Date
2014-04
DOI
10.14372/IEMEK.2014.9.2.101
URI
https://scholarworks.unist.ac.kr/handle/201301/18983
Fulltext
http://scholar.ndsl.kr/schArticleDetail.do?cn=JAKO201415641085352
Citation
대한임베디드공학회논문지, v.9, no.2, pp.101 - 107
Abstract
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.
Publisher
대한임베디드공학회
ISSN
1975-5066

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