Path Planning for a Mobile Robot with a Non-holonomic Constraint

• 영문명: Path Planning for a Mobile Robot with a Non-holonomic Constraint
• 발행기관: 한국해양대학교 해사산업연구소
• 저자명: Yun-Su Ha
• 간행물 정보: 『해사산업연구소논문집』제6집, 209~217쪽, 전체 9쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 1997.02.01

영문 초록

This reseach was carried out as a fundamental study on the path planning of a small mobile robots towing a trailer and navigating in the indoor environment. Application of freely navigating mobile robots to service tasks such as floor cleaning or document transprtation requires specific techniques for path planning and vehicle guidance. This article describes the algorithm to build a graph of environment taking into account the robot shape and its non-holonomic constraint.

목차

Abstract

I. Introduction

II. Cell decomposition representation

III. Robot parameters

IV. Robot traffic rules

V. Graph construction

VI. Conclusions

References