이동로봇의 안전한 주행을 위한 광선투사법 기반의 실내 경로계획 = Path Planning based on Ray-casting in Indoor Environments for Safe Navigation of a Mobile Robot

다국어 초록 (Multilingual Abstract)

A gradient method can provide a global optimal path in indoor environments. However, the optimal path can be often generated in narrow areas despite a sufficient wide area which lead to safe navigation. This paper presents a novel approach to path planning for safe navigation of a mobile robot. The proposed algorithm extracts empty regions using a ray-casting method and then generates temporary waypoints in wider regions in order to reach the goal fast and safely. The experimental results show that the proposed method can generate paths in the wide regions in most cases and the robot can reach the goal safely at high speeds.

참고문헌 (Reference)

1 D. Fox, "The Dynamic Window Approach to Collision Avoidance" 4 (4): 23-33, 1997

2 J. C. Latombe, "Robot Motion Planning" Kluwer Academic Publishers 1996

3 O.Khatib, "Real‐Time Obstacle Avoidance for Manipu lators and Mobile Robots" 5 (5): 90-98, 1996

4 R.E.Maede, "Ray tracing and graphics extensions" 4 (4): 1994

5 Y. Koren, "Potential Field Methods and Their Inherent Limitations for Mobile Robot Navigation" 1394-1404, 1991

6 R. Siegwart, "Introduction to Autonomous Mobile Robots" MIT Press 2004

7 A. Hahja, "Framed‐Quadtree Path Planning for Mobile Robots Operating in Sparse Environments" 650-655, 1998

8 Kurt Konolige, "A Gradient Method for Real‐time Robot Control" 639-646, 2000