Comparative analysis of path planners for a car-like mobile robot in a cluttered environment

Hyunki Kwon, Woo Jin Chung

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

4 Citations (Scopus)

Abstract

A car parking control problem is difficult because of nonholonomic constraints and complicated environmental geometry. We proposed KPP (Korea University Path Planner) in our prior work. KPP is a appropriate scheme for a car-like mobile robot in a parking environment. The purpose of this paper is to investigate the advantages of KPP through both quantitative and qualitative analyses. For comparison, numerical simulations have been carried out by the application of KPP and the conventional RRT (Rapidly Exploring Random Tree) method. The RRT scheme is one of the widely used path planning schemes owing to its superior performance. This paper shows that KPP exhibits outstanding performance from the viewpoints of optimality and computational efficiency.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages602-607
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
Duration: 2011 Dec 72011 Dec 11

Other

Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
CountryThailand
CityPhuket
Period11/12/711/12/11

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ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

Cite this

Kwon, H., & Chung, W. J. (2011). Comparative analysis of path planners for a car-like mobile robot in a cluttered environment. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 602-607). [6181352] https://doi.org/10.1109/ROBIO.2011.6181352