지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.9
- 수록면
- 255 - 262 (8page)
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초록· 키워드
오류제보하기
Many intelligent robots have to be given environmental information to perform tasks. In this paper an intelligent robot, that is, a cleaning robot used a sensor fusing method of two sensors: LRF and StarGazer, and then was able to obtain the information. Throughout wall following using laser displacement sensor, LRF, the working area is built during the robot turn one cycle around the area. After the process of wall following, a path planning which is able to execute the work effectively is established using flow network algorithm. This paper describes an algorithm for minimal turning complete coverage path planning for intelligent robots. This algorithm divides the whole working area by cellular decomposition, and then provides the path planning among the cells employing flow networks. It also provides specific path planning inside each cell guaranteeing the minimal turning of the robots. The proposed algorithm is applied to two different working areas, and verified that it is an optimal path planning method.
목차
Abstract
1. 서론
2. 시스템 구성 및 실험 환경
3. 장애물 회피와 지도 작성
4. 플로우 네트워크를 이용한 경로계획
5. 실험 결과
6. 결론
참고문헌
참고문헌 (16)
참고문헌 신청
1. [학술대회논문] - A. Elfes / 1992 / Dynamic Control of Robot Perception Using Multi-Property Inference Grids / Proceedings of the IEEE Int. Con On Robotics and Automation : 2561 ~ 2567
2. [학술지(정기간행물)] - Johann Borenstein / 1991 / Histogramic Motion Mapping for Mobile Robot Obstacle Avoidance / IEEE Trans.Robotics and Automation : 535 ~ 539
3. [학술대회논문] - R. Zimmer / 2000 / Embedding local metrical map patches in a globally consistent topological map / Proc. Of the intl. Symposium on Underwater Technology 2000
4. [학술지(정기간행물)] - S. S. Ge / 2000 / New potential function for mobile robot path planning / IEEE Trans. Robotics and Automation 16 (5) : 615 ~ 620
5. [학술지(정기간행물)] - A. Zelinsky / 1993 / Planning path of complete coverage of an unstructured environment by a mobile robot / Proc. IEEE Int. Conf. Robot.Automat : 533 ~ 538
2. [학술지(정기간행물)] - Johann Borenstein / 1991 / Histogramic Motion Mapping for Mobile Robot Obstacle Avoidance / IEEE Trans.Robotics and Automation : 535 ~ 539
3. [학술대회논문] - R. Zimmer / 2000 / Embedding local metrical map patches in a globally consistent topological map / Proc. Of the intl. Symposium on Underwater Technology 2000
4. [학술지(정기간행물)] - S. S. Ge / 2000 / New potential function for mobile robot path planning / IEEE Trans. Robotics and Automation 16 (5) : 615 ~ 620
5. [학술지(정기간행물)] - A. Zelinsky / 1993 / Planning path of complete coverage of an unstructured environment by a mobile robot / Proc. IEEE Int. Conf. Robot.Automat : 533 ~ 538
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