Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이지영 | - |
dc.date.accessioned | 2022-12-27T05:08:21Z | - |
dc.date.available | 2022-12-27T05:08:21Z | - |
dc.date.issued | 2013-10 | - |
dc.identifier.citation | 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013, article no. 6677401, Page. 599-601 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/6677401?arnumber=6677401&SID=EBSCO:edseee | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/178428 | - |
dc.description.abstract | This paper presents the motion planning of unicycle-like robot using single Rapidly-exploring Random Tree (RRT) algorithm, combining with Branch and Bound (BB) method. RRT can construct the searching tree efficiently between initial configuration and goal configuration. Based on the constructed searching tree, the optimal path can be extracted with BB algorithm rapidly. Obstacles avoidance is realized by checking whether the contour points of robot locate in the space of obstacles. The simulation result in a complex environment with unicycle-like robot proves the validity of proposed algorithms. © 2013 IEEE. | - |
dc.description.sponsorship | This research was supported by the Ministry of Knowledge Economy, Korea, under the Industrial Foundation Technology Development Program supervised by the Korea Evaluation Institute of Industrial Technology (No. 10038660, Development of the control technology with sensor fusion based recognition for dual-arm work and the technology of manufacturing process with multi-robot cooperation). Also, this research was under the 'Advanced Robot Manipulation Research Center' support program supervised by the NIPA (National IT Industry Promotion Agency) (NIPA-2012-H1502-12-1002). | - |
dc.language | en | - |
dc.publisher | IEEE Computer Society | - |
dc.subject | Branch and Bound algorithm | - |
dc.subject | Motion planning | - |
dc.subject | RRT | - |
dc.subject | Unicycle-like robot | - |
dc.title | Motion planning of unicycle-like robot using single RRT with branch and bound algorithm | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/URAI.2013.6677401 | - |
dc.relation.page | 599-601 | - |
dc.relation.journal | 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 | - |
dc.contributor.googleauthor | Yan, Rui-Jun | - |
dc.contributor.googleauthor | Wu, Jing | - |
dc.contributor.googleauthor | Lee, Ji-Yeong | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 로봇공학과 | - |
dc.identifier.pid | jiyeongl | - |
dc.identifier.article | 6677401 | - |
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