대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2000년도 하계학술대회 논문집 D
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- Pages.2732-2734
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- 2000
유전 알고리즘과 가시도 그래프를 이용한 이동로봇의 최적경로 계획
Optimal Path Planning for Mobile Robots based on Genetic Algorithms and Visibility Graph
- Jung, Youn-Boo (Dept. of Electrical Eng. Pusan National Univ) ;
- Lee, Min-Jung (Dept. of Electrical Eng. Pusan National Univ) ;
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Jun, Hyang-Sig
(Dept. of Electrical Eng. Pusan National Univ)
;
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Choi, Young-Kiu
(Dept. of Electrical Eng. Pusan National Univ)
- 발행 : 2000.07.17
초록
This paper proposes a path planning algorithm for mobile robots. To generate a minimum-distance path for mobile robots, we use the Genetic Algorithm(GA) and Visibility Graph. After finding a minimum-distance path between a start and a goal point, the path is revised to find the smooth subminimum-distance path by a path-smoothing algorithm. Simulation results show that the proposed algorithms are effective.
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