로봇 경로 제어를 위한 속도기반 Dijkstra 알고리즘

• 영문명: A Speed-Based Dijkstra Algorithm for the Line Tracer Control of a Robot
• 발행기관: 한국IT서비스학회
• 저자명: 천성권(Seongkwon Cheon) 김근덕(GeunDeok Kim) 김종근(Chonggun Kim)
• 간행물 정보: 『한국IT서비스학회지』한국IT서비스학회지 제10권 제4호, 259~268쪽, 전체 10쪽
• 주제분류: 경제경영 > 경영학
• 파일형태: PDF
• 발행일자: 2011.12.31

영문 초록

A robot education system by emulation based on Web can be efficiently used for understanding concept of robot assembly practice and control mechanism of robot by control programming. It is important to predict the path of the line tracer robot which has to be decided by the robot. Shortest Path Algorithm is a well known algorithm which searches the most efficient path between the start node and the end node. There are two related typical algorithms. Dijkstra Algorithm searches the shortest path tree from a node to the rest of the other nodes. A* Algorithm searches the shortest paths among all nodes. The delay time caused by turning the direction of navigation for the line tracer robot at the crossroads can give big differences to the travel time of the robot. So we need an efficient path determine algorithm which can solve this problem. Thus, It is necessary to analyze the overhead of changing direction of robot at multi-linked node to determine the next direction for efficient routings. In this paper, we reflect the real delay time of directional changing from the real robot. A speed based Dijkstra algorithm is proposed and compared with the previous ones to analyze the performance.

목차

Abstract

1. 서론

2. 관련 연구와 연구 배경

3. 속도기반-Dijkstra 알고리즘

4. 경로탐색 시스템 환경 구축과 실험

5. 결론 및 향후 연구과제

참고문헌

저자소개

키워드

Speed-Based Dijkstra Algorithm A-Star Algorithm Robot Shortest Path Line Tracer