A practical roadmap for the path planning of mobile robots in rectilinear environments

Nakju Doh, Chanki Kim, Sangik Na, Won Pil Yu, Youngjo Cho, Wan Kyun Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper we propose a practical roadmap for mobile robots with differential wheel base. The roadmap is designed for a rectilinear environment which covers most of indoor buildings. In designing the roadmap, we put emphasis on two issues: (1) human friendly path and (2) low computation. First, we analyze how human move. From the human movement, we find out that human navigate in a way that minimizes the sum of a muscle and a brain energy. On the basis of the human path, we suggest an algorithm with low calculations. Experimental results show that the path generated by our method is more human-friendly and natural.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages2022-2027
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Other

Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of
CityBusan
Period06/10/1806/10/21

Fingerprint

Motion planning
Mobile robots
Muscle
Brain
Wheels

Keywords

  • Human-robot interaction
  • Minimum energy path
  • Path planning
  • Rectilinear environment
  • Roadmap
  • Time-optimal path
  • Visibility graph

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Doh, N., Kim, C., Na, S., Yu, W. P., Cho, Y., & Chung, W. K. (2006). A practical roadmap for the path planning of mobile robots in rectilinear environments. In 2006 SICE-ICASE International Joint Conference (pp. 2022-2027). [4109019] https://doi.org/10.1109/SICE.2006.315424

A practical roadmap for the path planning of mobile robots in rectilinear environments. / Doh, Nakju; Kim, Chanki; Na, Sangik; Yu, Won Pil; Cho, Youngjo; Chung, Wan Kyun.

2006 SICE-ICASE International Joint Conference. 2006. p. 2022-2027 4109019.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Doh, N, Kim, C, Na, S, Yu, WP, Cho, Y & Chung, WK 2006, A practical roadmap for the path planning of mobile robots in rectilinear environments. in 2006 SICE-ICASE International Joint Conference., 4109019, pp. 2022-2027, 2006 SICE-ICASE International Joint Conference, Busan, Korea, Republic of, 06/10/18. https://doi.org/10.1109/SICE.2006.315424
Doh N, Kim C, Na S, Yu WP, Cho Y, Chung WK. A practical roadmap for the path planning of mobile robots in rectilinear environments. In 2006 SICE-ICASE International Joint Conference. 2006. p. 2022-2027. 4109019 https://doi.org/10.1109/SICE.2006.315424
Doh, Nakju ; Kim, Chanki ; Na, Sangik ; Yu, Won Pil ; Cho, Youngjo ; Chung, Wan Kyun. / A practical roadmap for the path planning of mobile robots in rectilinear environments. 2006 SICE-ICASE International Joint Conference. 2006. pp. 2022-2027
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