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함종규(Jong-Gyu Ham),권태범(Tae-Bum Kwon),송재복(Jae-Bok Song),정우진(Woojin Chung) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
Path planning is a key element in navigation of a mobile robot. Several algorithms such as the gradient method have been successfully implemented so far. Although the gradient method can provide the global optimal path, it computes the navigation function over the whole environment at all times, this resulting in long computation time. This paper proposes modified gradient method in which the search space for the computation of navigation function can be significantly reduced using the topological information which approximately coincides with the path. The computing time of the gradient method can therefore be significantly decreased without loosing the global optimality.