Path planning using an information grid map for safe navigation

Min Kuk Jung, Joong Tae Park, Jae Bok Song

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

Conventional path planning methods have focused on the generation of an optimal shortest path to the goal. However, this optimal path cannot guarantee safe navigation, because it can often lead to a narrow area. Therefore, we propose a Coulomb's law-based safe path planning method that uses an information grid map. The information grid map includes four types of information: occupied, empty, guide, and dangerous areas. A safe path can be generated away from the dangerous area and close to the guide area by repulsive and attractive forces, respectively. Experiments and simulations show that the proposed method can generate paths inside the safe region and is useful for safe navigation.

Original languageEnglish
Pages (from-to)623-628
Number of pages6
JournalTransactions of the Korean Society of Mechanical Engineers, A
Volume36
Issue number6
DOIs
Publication statusPublished - 2012 Jun

Keywords

  • Information grid map
  • Mobile robot
  • Path planning

ASJC Scopus subject areas

  • Mechanical Engineering

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