한국조명전기설비학회지:조명전기설비 (The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers)

한국조명전기설비학회 (The Korean Institute of IIIuminating and Electrical Installation Engineers)
권호 표지

유전알고리즘을 이용한 운송설비용 자율 주행 운반체의 경로계획에 관한 연구

A Study on Path Planning of an Autonomous mobile Vehicle for Transport Sysing Using Genetic Algorithms

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  • 趙玄哲 ;
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  • 발행 : 1999.06.01

⟨ 이전 논문 다음 논문 ⟩

초록

An autonomous mobile vehicle for transport system must plan optimal path in work environment without human supervision and obstacle collision. This is to reach a destination without getting lost. In this paper, a genetic algorithm for global and local path planning and collision avoidance is proposed. The genetic algorithm searches for a path in the entire and continuous free space and unifies global path planning and local path planning. The simulation shows the proposed method is an efficient and effective method when compared with the traditional collision avoidance algorithms.

키워드

참고문헌

  1. IEEE Trans. on System, Man and Cybernetics v.23 no.2 Navigation Templets : Medliating Qulitive Guidience and Quantative Control in Mobile Robots Marc G. Slack
  2. IEEE Trans. on System, Man and Cybernetics v.19 no.5 Real Time Obstacle Avoidance for Fast Mobile Robots Borenstein, J.;Koren, Y.
  3. IEEE Journal of Robotics and Automation v.7 no.3 The VectorField Histogram Fast Obstacle Avoidance for Mobile Robots Borenstein, J.;Koren, Y.
  4. Recent Trends in Mobile Robots Distance transform Based Path planning for Robot Navigation R.A. Jarvis
  5. 대한전기학회 하계학술대회 논문집 유전알고리즘을 이용한 이동 로봇의 경로계획에 관한 연구 김진수;이영진;배근신;이권순
  6. Genetic Algorithms in Serach, Optimization, and Machine Learning David E. Goldberg
  7. A Heuristic Strategy for Optimization, World Scientific Genetic Algorithms and Robotics Yuval Davidor
  8. Genetic Algorithm + Data Structure = Evolution Programs Zbigniew Michalewicz