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로봇 경로 제어를 위한 속도기반 Dijkstra 알고리즘
천성권(Seongkwon Cheon),김근덕(GeunDeok Kim),김종근(Chonggun Kim) 한국IT서비스학회 2011 한국IT서비스학회지 Vol.10 No.4
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.
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