일반화된 보로노이 다이어그램을 이용한 논홀로노믹 모바일 로봇의 자율 주행
- Title
- 일반화된 보로노이 다이어그램을 이용한 논홀로노믹 모바일 로봇의 자율 주행
- Other Titles
- Autonomous Navigation of Nonholonomic Mobile Robots Using Generalized Voronoi Diagrams
- Author
- 신규식
- Keywords
- Generalized Voronoi diagram; Nonholonomic mobile robot; Autonomous navigation; Sensor-based
- Issue Date
- 2015-02
- Publisher
- 한국생산제조학회
- Citation
- 한국생산제조학회지, v. 24, NO. 1, Page. 98-102
- Abstract
- This paper proposes an autonomous navigation method for a nonholonomic mobile robot, based on the generalized Voronoi diagram (GVD). We define the look-ahead point for a given motion constraint to determine the direction of motion, which solves the problem of a minimum turning radius for the real nonholonomic mobile robot. This method can be used to direct the robot to explore an unknown environment and construct smooth feedback curves for the nonholonomic robot. As the trajectories can be smoothed, the position of the robot can be stabilized in the plane. The simulation results are presented to verify the performance of the proposed methods for the nonholonomic mobile robot. Furthermore, this approach is worth drawing on the experience of any other mobile robots.
- URI
- https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE06205390https://repository.hanyang.ac.kr/handle/20.500.11754/183815
- ISSN
- 2508-5093;2508-5107
- DOI
- 10.7735/ksmte.2015.24.1.098
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML