Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Dynamic Path Planning for Autonomous Mobile Robots

자율이동로봇을 위한 동적 경로 계획 방법

  • Published : 2008.04.01
Download PDF
⟨ Previous Next ⟩

Abstract

We propose a new path planning method for autonomous mobile robots. To maximize the utility of mobile robots, the collision-free shortest path should be generated by on-line computation. In this paper, we develop an effective and practical method to generate a good solution by lower computation time. The initial path is obtained from skeleton graph by Dijkstra's algorithm. Then the path is improved by changing the graph and path dynamically. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

Keywords

References

  1. H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki, S. Thrun, Principles of robot Motion, MIT Press, 2005
  2. A. Elfes, "Using occupancy grids for mobile robot perception and navigation," IEEE Trans. on Computer, vol. 22, no. 6, pp. 46-57, 1989 https://doi.org/10.1109/T-C.1973.223600
  3. R. Brooks, "Solving the find path problems by good representation of free space," IEEE Trans. on Systems, Man and Cybernetics, vol. SMC-13, no. 3, pp. 190-197, 1983 https://doi.org/10.1109/TSMC.1983.6313112
  4. K. P. Valavanis, T. Hebert, R. Kolluru, N. Tsourveloudis, "Mobile robot navigation in 2-d dynamic environments using an electrostatic potential field," IEEE Trans. on Systems, Man and Cybernetics, vol. 30, no. 2, pp. 187-196, 2000 https://doi.org/10.1109/3468.833100
  5. N. Amato, Y. Wu, "A randomized roadmap method for path and manipulation planning," Proc. IEEE Conf. Robotics and Automation, pp. 113-120, 1996
  6. Kurt Konolige, "A gradient method for realtime robot control," IEEE/RSJ Int. Conf. on Intelligent Robot and Systems, pp. 639-646, 2000
  7. 함종규, 송재복, 정우진, "위상정보를 갖는 구배법에 기반한 이동로봇의 고속 경로계획," 제어.자동화.시스템공학 논문지, 제 12 권, 제 5 호, pp. 444-449, 2006 https://doi.org/10.5302/J.ICROS.2006.12.5.444
  8. N. G, "Path planning in a 2-D known space using neural networks and skeletonization," IEEE Int. Conf. on Systems, Man, and Cybernetics, vol. 3, pp. 2001-2005, 1997
  9. N. S. Rao, S. S. Iyengar, "Autonomous robot navigation in unknown terrains: incidental learning and environmental exploration," IEEE Trans. on Systems, Man and Cybernetics, vol. 20, no. 6, pp. 1443-1449, 1990 https://doi.org/10.1109/21.61213
  10. S. Simhon, and G. Dudek, "A global topological map formed by local metric maps," IEEE/RSJ Int. Conf. on Intelligent Robot and Systems, pp. 1708-1724, 1998
  11. B. S. Ryu, and H. S. Yang, "Integration of reactive behaviors and enhanced topological map for robust mobile robot navigation," IEEE Trans. on Systems, Man and Cybernetics, vol. 29, no. 5, pp. 237-250, 1999 https://doi.org/10.1109/3477.752796
  12. Z. Michalewicz, D. B. Fogel, How to Solve It: Modern Heuristics, Springer-Verlag, 2000
  13. E. R. Davies, Machine Vision, 3rd Edition, Morgan Kaufmann publishers, 2004
  14. T. H. Cormen, C. E. Leiserson, et al, Introduction to Algorithms, 2nd Ed., The MIT Press, 2001
  15. T. H. Park, and B. H. Lee, "An approach to robot motion analysis and planning for conveyor tracking," IEEE Trans. on Systems, Man, and Cybernetics, vol. 22, no. 2, pp. 378-384, 1992 https://doi.org/10.1109/21.148413
  16. T. H. Park, and N. Kim, "A dynamic programming approach to PCB assembly optimization for surface mounters," Int. J. of Control, Automation, and Systems, vol. 5, no. 2, pp. 192-199, 2007
  17. 이시웅, 최재각, 남재열, "동적 프로그래밍에 기반한 윤곽선 근사화를 위한 정점 선택 방법," 전자공학회논문지, 제 41 권, 제 3 호, pp. 121-127, 2004

Cited by

  1. Intersection Recognition and Guide-Path Selection for a Vision-Based AGV in a Bidirectional Flow Network vol.11, pp.3, 2014, https://doi.org/10.5772/58218