IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Fast Path Planning Algorithm for Mobile Robot Navigation

모바일 로봇의 네비게이션을 위한 빠른 경로 생성 알고리즘

  • Received : 2011.01.29
  • Accepted : 2011.02.12
  • Published : 2014.04.30
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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.

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References

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