한국정보처리학회:학술대회논문집 (Proceedings of the Korea Information Processing Society Conference)

한국정보처리학회 (Korea Information Processing Society)
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Trajectory Design for Mobile Robot Using Potential Field Method

  • ;
  • 손민한 (성균관대학교 정보통신대학) ;
  • 추현승 (성균관대학교 정보통신대학)
  • Chau, Minh Phuc (College of Information and Communication Engineering Sungkyunkwan University) ;
  • Shon, Minhan (College of Information and Communication Engineering Sungkyunkwan University) ;
  • Choo, Hyunseung (College of Information and Communication Engineering Sungkyunkwan University)
  • 발행 : 2013.05.10
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초록

This study presents a potential field method for path planning to goal with a mobile robot in unknown environment. The proposed algorithm allows mobile robot to navigate through static obstacles, and find the path in order to reach the target without collision. This algorithm provides the robot with the possibility to move from the initial position to the final position (target). Stage and Player simulator is used to perform the robot motion and implement the potential field algorithm in C/C++ for performance evaluation. Two-dimensional terrain model is used to simulate the ability of robot in motion planning without any collision.

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