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학술대회 A Coarse-to-Fine Approach for Fast Path Finding for Mobile Robots
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저자
이재영, 유원필
발행일
200910
출처
International Conference on Intelligent Robots and Systems (IROS) 2009, pp.5414-5419
DOI
https://dx.doi.org/10.1109/IROS.2009.5354686
협약과제
09MC3200, u-Robot 인지인프라 기술개발(주관 : u-City 환경기반 하이브리드 u-로봇 서비스 시스템 기술개발), 유원필
초록
A simple but effective method for fast path finding for mobile robots in grid-based search space is presented. The paper presents a systematic way to reduce the resolution of a grid map preserving the occupancy structure of the original map. Paths are found in two steps with varying quantization levels of the space in coarse-to-fine manner. The resulting paths are practically optimal and experimental results show a great reduction of the searching time, making it possible to implement a real-time global path planner in a very large environment. © 2009 IEEE.
KSP 제안 키워드
Fast Path, Global path planner, Grid Map, Grid-based, Mobile robots, Quantization levels, Real-Time, Search Space, coarse-to-fine manner, path finding