A*와 TEB 알고리즘 기반의 스마트 이동 로봇 경로 생성 시스템 설계
A*and TEB Algorithm-Based Smart Mobile Robot Path Planing System Design
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초록
Path planning is necessary for mobile robots to perform precise and rapid tasks. A collision avoidance function must be included so that the robot can move safely during work, and it must be able to create an optimal path to reduce work execution time and save energy. In this paper, we propose a smart route generation algorithm that searches for global route with an algorithm that can speed up route search and integrates the TEB algorithm that can search for regional optimum routes in real time according to the situation. The performance of the proposed algorithm was verified through actual driving experiments of mobile robots.
Abstract
Path planning is necessary for mobile robots to perform precise and rapid tasks. A collision avoidance function must be included so that the robot can move safely during work, and it must be able to create an optimal path to reduce work execution time and save energy. In this paper, we propose a smart route generation algorithm that searches for global route with an algorithm that can speed up route search and integrates the TEB algorithm that can search for regional optimum routes in real time according to the situation. The performance of the proposed algorithm was verified through actual driving experiments of mobile robots.
참고문헌 (9)
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