• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.184-186
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• 2006

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.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.444-449
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• 2006

Path planning is a key element in navigation of a mobile robot. Several algorithms such as a gradient method have been successfully implemented so for. Although the gradient method can provide the global optimal path, it computes the navigation function over the whole environment at all times, which result in high computational cost. This paper proposes a high-speed path planning scheme, called a gradient method with topological information, in which the search space for computation of a navigation function can be remarkably reduced by exploiting the characteristics of the topological information reflecting the topology of the navigation path. The computing time of the gradient method with topological information can therefore be significantly decreased without losing the global optimality. This reduced path update period allows the mobile robot to find a collision-free path even in the dynamic environment.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.492-495
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• 1990

This paper introduces a path planning technique for a mobile robot in the presence of obstacles. In the technique, workspace is described by regional graph and represented obstacles by the three-layer neural network. And performance cost is defined under consideration both the traveling distance and the safety of a mobile robot. Then a collision-free path is obtained using the neural optimization technique.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.554-557
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• 2002

This paper describes power potential field method for the collision-free path planning of stereo-vision based mobile robot. Area based stereo matching is performed for obstacle detection in uncertain environment. The repulsive potential is constructed by distributing source points discretely and evenly on the boundaries of obstacles and superposing the power potential which is defined so that the source potential will have more influence on the robot than the sink potential when the robot is near to source point. The mobile robot approaches the goal point by moving the robot directly in negative gradient direction of the main potential. We have investigated the possibility of power potential method for the collision-free path planning of mobile robot through various experiments.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.1
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• pp.69-77
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• 1991

A collision-free trajectory planning algorithm using an iterative learning concept is proposed for dual robot arms in a 3-D common workspace to accurately follow their specified paths with constant velocities. Specifically, a collision-free trajectory minimizing the trajectory error is obtained first by employing the linear programming technique. Then the total operating time is iteratively adjusted based on the maximum trajectory error of the previous iteration so that the collision-free trajectory has no deviation from the specified path and also that the operating time is near-minimal. To show the validity of the proposed algorithm, a numerical example is presented based on two planar robots.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1991.10a
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• pp.231-231
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• 1991

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.120.3-120
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• 2001

We propose a new method of path planning for cleaning robots. Path planning problem for cleaning robots is different from conventional path planning problems in which finding a collision-free trajectory from a start point to a goal point is focused. In the case of cleaning robots, however, a planned path should cover all area to be cleaned. To resolve this problem in a systematic way, we propose a method based on a graph model as follows: at first, partition a given map into proper regions, then transform a divided region to a vertex and a connectivity between regions to an edge of a graph. Finally, a region is divided into sub-regions so that the graph has a unary tree which is the simplest Hamilton path. The effectiveness of the proposed method is shown by computer simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.915-920
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• 1987

When a task requires two robot arms to move in a cooperative manner sharing a common workspace, potential collision exists between the two robot arm . In this paper, a novel approach for collision-free trajectory planning along paths of two SCARA-type robot arms is presented. Specifically, in order to describe potential collision between the links of two moving robot arms along the designated paths, an explicit form of "Virtual Obstacle" is adopted, according to which links of one robot arm are made to grow while the other robot arm is forced to shrink as a point on the path. Then, a notion of "Coordination Chart" is introduced to visualize the collision-free relationship of two trajectories.of two trajectories.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.392-398
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• 2008

We propose a new path planning method for autonomous mobile robots. To maximize the utility of mobile robots, the collision-free shortest path should be generated by on-line computation. In this paper, we develop an effective and practical method to generate a good solution by lower computation time. The initial path is obtained from skeleton graph by Dijkstra's algorithm. Then the path is improved by changing the graph and path dynamically. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.1
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• pp.98-106
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• 1991

Future generation of robots will be considerably more autonomous than present robotic systems. The main objective of research on theoretical problems in robotics is to endow robotics system with basic capabilities they will need to operate in an intelligent and autonomous manner. This paper discusses the problem of collision free movement of robot manipulator. It is formulated in path planning with obstacle avoidance expressed in the term of the distance between convex shapes in the three dimensional space. The examples are given to illustrate the main feature of the method.