Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이지영 | - |
dc.date.accessioned | 2022-12-27T05:07:20Z | - |
dc.date.available | 2022-12-27T05:07:20Z | - |
dc.date.issued | 2015-01 | - |
dc.identifier.citation | Journal of Institute of Control, Robotics and Systems, v. 21.0, NO. 3.0, Page. 257-264 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.uri | https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE06218752 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/178424 | - |
dc.description.abstract | This paper proposes an adaptive RRT (Rapidly-exploring Random Tree) for path planning of high DOF multibody robotic system. For an efficient path planning in high-dimensional configuration space, the proposed algorithm adaptively selects the robot bodies depending on the complexity of path planning. Then, the RRT grows only using the DOFs corresponding with the selected bodies. Since the RRT is extended in the configuration space with adaptive dimensionality, the RRT can grow in the lower dimensional configuration space. Thus the adaptive RRT method executes a faster path planning and smaller DOF for a robot. We implement our algorithm for path planning of 19 DOF robot, AMIRO. The results from our simulations show that the adaptive RRT-based path planner is more efficient than the basic RRT-based path planner. | - |
dc.language | ko | - |
dc.publisher | 제어·로봇·시스템학회 | - |
dc.subject | Motion planning | - |
dc.subject | Multibody robotic system | - |
dc.subject | Path planning | - |
dc.subject | Rapidly-exploring random tree | - |
dc.title | Adaptive RRT를 사용한 고 자유도 다물체 로봇 시스템의 효율적인 경로계획 | - |
dc.title.alternative | Efficient Path Planning of a High DOF Multibody Robotic System using Adaptive RRT | - |
dc.type | Article | - |
dc.relation.no | 3.0 | - |
dc.relation.volume | 21.0 | - |
dc.identifier.doi | 10.5302/J.ICROS.2015.14.0095 | - |
dc.relation.page | 257-264 | - |
dc.relation.journal | Journal of Institute of Control, Robotics and Systems | - |
dc.contributor.googleauthor | 김동형 | - |
dc.contributor.googleauthor | 최윤성 | - |
dc.contributor.googleauthor | 염서군 | - |
dc.contributor.googleauthor | 라로평 | - |
dc.contributor.googleauthor | 이지영 | - |
dc.contributor.googleauthor | 한창수 | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 로봇공학과 | - |
dc.identifier.pid | jiyeongl | - |
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