영역 분할 알고리듬을 이용한 이동 로봇의 다수 경로 계획

Multi-Path Planning of Mobile Robot Using Region Segmentation Algorithm

In this paper, we propose multi-path planning method of the mobile robot using region segmentation algorithm in real environment. The proposed method is as follows: First, we propose the region segmentation method of real environment by using the Voronoi diagram. And then, we set the target position of the mobile robot by using the k-mean algorithm in the segmentation region. Second, we allocate the navigation order of mobile robots by using the genetic algorithm. And then, we plan the navigation path of the concerned mobile robot by using A* algorithm according to the allocated navigation order. Also, we propose the obstacle avoidance navigation algorithm of mobile robot by using the virtual force. Finally, we show the effectiveness and feasibility of the proposed method through some simulations.