영역 분할 알고리듬을 이용한 이동 로봇의 다수 경로 계획

• 영문명: Multi-Path Planning of Mobile Robot Using Region Segmentation Algorithm
• 발행기관: 한국산업기술융합학회(구. 산업기술교육훈련학회)
• 저자명: 이덕용(Deog-Yong Lee)
• 간행물 정보: 『산업기술연구논문지』산업기술교육훈련논문지 제19권 4호, 7~13쪽, 전체 7쪽
• 주제분류: 공학 > 산업공학
• 파일형태: PDF
• 발행일자: 2014.12.30

영문 초록

In this paper, we propose multi-path planning method of the mobile robot using region segmentation algorithm in real environment. The proposed method is as follows: First, we propose the region segmentation method of real environment by using the Voronoi diagram. And then, we set the target position of the mobile robot by using the k-mean algorithm in the segmentation region. Second, we allocate the navigation order of mobile robots by using the genetic algorithm. And then, we plan the navigation path of the concerned mobile robot by using A* algorithm according to the allocated navigation order. Also, we propose the obstacle avoidance navigation algorithm of mobile robot by using the virtual force. Finally, we show the effectiveness and feasibility of the proposed method through some simulations.

목차

Ⅰ. 서 론

Ⅱ. 본 론

Ⅲ. 실험결과 및 고찰

Ⅳ. 결 론

키워드

Mobile Robots(이동 로봇) Path Planning(경로계획) Virtual Force(가상 힘) A* Algorithm(A* 알고리듬) Genetic Algorithm(유전자 알고리듬)