A real-time path planning method for efficient movement of a mobile robot
자율이동로봇의 효과적인 이동을 위한 실시간 경로생성 방법
- Sa, In-Kyu (Samsung Electronics Co.) ;
- Ahn, Ho-Seok (Seoul National University) ;
- Lee, Hyung-Kyu (Samsung Electronics Co.) ;
- Choi, Jin-Young (Seoul National University)
- Published : 2008.10.31
A real-time path planning of mobile robots is a broad topic, covering a large spectrum of different technologies and applications. Briefly a path planning is designated moving technique from current pose to desired pose. It is remarkably easy to handle for human, not for robot. It is difficult that a robot recognizes surround to get a current pose and to avoid an obstacles. In this paper covers kinematics, path planning for efficient movements of a mobile robot. Kinematics of mobile robot which is suggested in this paper is exploited to create reliable and suitable motions. In addition, Gradient method is a algorithm which can guarantee for real-time path planning.