대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

자율 청소 로봇을 위한 미지의 환경에서의 새로운 경로 계획 방법

A New Solution to Path Planning of Autonomous Cleaning Robot in Unknown Environment

  • 이상수 (연세대학교 전기전자공학과) ;
  • 오준섭 (연세대학교 전기전자공학과) ;
  • 박진배 (연세대학교 전기전자공학과) ;
  • 최윤호 (경기대학교 전자기계공학부)
  • Lee, Sang-Soo (Dept. of Electrical & Electronic Eng., Yonsei Univ.) ;
  • Oh, Joon-Seop (Dept. of Electrical & Electronic Eng., Yonsei Univ.) ;
  • Park, Jin-Bae (Dept. of Electrical & Electronic Eng., Yonsei Univ.) ;
  • Choi, Yoon-Ho (School of Electronic & Mechanical Eng., Kyonggi Univ.)
  • 발행 : 2001.07.18
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, we address a new complete coverage navigation algorithm and guidance methodology for the cleaning robot. The proposed algorithm is based on the grid map. Six templates, excluding a Back-Trace(BT) template are used as the local navigation method. The effectiveness of the algorithm proposed in this paper is thoroughly demonstrated through simulations and the evaluation of parameters for the path execution.

키워드