# 동적프로그래밍을 이용한 자율이동로봇의 동작계획

• 윤희상 (충북대학교 대학원 제어로봇공학과) ;
• 박태형 (충북대학교 전자공학부)
• Published : 2010.01.01

#### Abstract

We propose a motion planning method for autonomous mobile robots. In order to minimize traveling time, a smooth path and a time optimal velocity profile should be generated under kinematic and dynamic constraints. In this paper, we develop an effective and practical method to generate a good solution with lower computation time. The initial path is obtained from voronoi diagram by Dijkstra's algorithm. Then the path is improved by changing the graph and path simultaneously. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

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