학술저널
Path Planning for a Mobile Robot with a Non-holonomic Constraint
Path Planning for a Mobile Robot with a Non-holonomic Constraint
- 한국해양대학교 해사산업연구소
- 해사산업연구소논문집
- 제6집
-
1997.02209 - 217 (9 pages)
- 12
커버이미지 없음
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.
Abstract I. Introduction II. Cell decomposition representation III. Robot parameters IV. Robot traffic rules V. Graph construction VI. Conclusions References
(0)
(0)