부분적으로 알려진 환경에 대한 이동 로봇의 경로 생성 계획기에 관한 연구

A study on the path planner for a mobile robot in partially known environment

In this paper, the path planner is presented for a robot to achieve an efficient path forward the given goal position in two dimensional environment which is involved with partially unknown obstacles. The path planner consists of three major components: off-line path planning, on-line path planning, and modification of planned path. Off-line path planning is based on known environment and creates the shortest path. On-line path planning is for finding unknown obstacles. The modification can be accomplished, by genetic algorithm, to be smooth path for preventing slippage and excessive centrifugal force.