http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Line Segment Selection Method for Fast Path Planning
신원영,신종진,김병주,정광래 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.3
Path planning is required for a vehicle with the mission which includes the avoidance of certain areas. There are various kinds of algorithms for path planning. Typical algorithms are Voronoi diagram, visibility graph,potential field and trajectory optimization. These algorithms often need post-processing technique to satisfy thevehicles’ constraints such as turning angle and minimum moving distance. The proposed method does not needpost-processing steps and always provides the fast and stable solution. It also gives a unique solution, while rapidlyexploring random tree algorithms do not guarantee same solution. We use the local search and the global searchat the same time in order to get a more appropriate path. We validate the proposed method by simulations and theresults show that the method is fast and effective for path planning.