자율주행로봇의 최소경로계획을 위한 그래프 탐색 방법

A Graph Search Method for Shortest Path-Planning of Mobile Robots

We propose a new method for shortest path planning of mobile robots. The topological information of the graph is obtained by thinning method to generate the collision-free path of robot. And the travelling path is determined through hierarchical planning stages. The first stage generates an initial path by use of Dijkstra's algorithm. The second stage then generates the final path by use of dynamic programming (DP). The DP adjusts the intial path to reduce the total travelling distance of robot. Simulation results are presented to verify the performance of the proposed method.