A practical roadmap for the path planning of mobile robots in rectilinear environments

被引：0
作者：
Doh, Nakju Lett [1 ]
Kim, Chanki [2 ]
Na, Sangik [3 ]
Yu, Won-Pil [3 ]
Cho, Youngjo [3 ]
Chung, Wan Kyun [2 ]
机构：
[1] Korea Univ, Sch Elect Engn, Seoul, South Korea
[2] POSTECH, Dept Mech Engn, Pohang, South Korea
[3] ETRI, Intelligent Robot Res Div, Taejon, South Korea
来源：
2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 | 2006年
关键词：
path planning; human-robot interaction; roadmap; visibility graph; minimum energy path; time-optimal path; rectilinear environment;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we propose a practical roadmap for mobile robots with differential wheel base. The roadmap is designed for a rectilinear environment which covers most of indoor buildings. In designing the roadmap, we put emphasis on two issues: (1) human friendly path and (2) low computation. First, we analyze how human move. From the human movement, we find out that human navigate in a way that minimizes the sum of a muscle and a brain energy. On the basis of the human path, we suggest an algorithm with low calculations. Experimental results show that the path generated by our method is more human-friendly and natural.
引用
收藏
页码：4934 / +
页数：4
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