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Conference Paper
Dynamic Adaptation of Global Path for Safe Navigation of Mobile Robot
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- Authors
- Jae-Yeong Lee, Kyu Seo Han, Won Pil Yu
- Issue Date
- 2008-11
- Citation
- International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2008, pp.1-4
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- Obstacle avoidance or local path planning aims to arrive a goal position safely without colliding with obstacles. However, many local path planning approaches are easy to be stuck at local minima. This paper presents a method that generates safe path based on global path planning. The method does not require complex processing or parameter tuning, which is frequently required with conventional local planning approaches. Effectiveness of the method is shown with computer simulations.
- KSP Keywords
- Computer simulation(MC and MD), Dynamic Adaptation, Local minima, Mobile robots, Obstacle Avoidance, Parameter Tuning, Safe navigation, Safe paths, complex processing, global path planning, local path planning