상세정보
학술지
Incremental Hierarchical Roadmap Construction for Efficient Path Planning
- 저자
- 박병재, 최진우, 정완균
- 발행일
- 201808
- 출처
- ETRI Journal, v.40 no.4, pp.458-470
- ISSN
- 1225-6463
- 출판사
- 한국전자통신연구원 (ETRI)
- 협약과제
- 18HR1500, 안전한 무인이동체를 위한 ICT 기반기술 개발, 안재영
- 초록
- This paper proposes a hierarchical roadmap (HRM) and its construction process to efficiently represent navigable areas in an indoor environment. HRM is adopted to solve the path-planning problems of mobile robots in indoor environments. HRM has a multi-layered graphical structure that enables it to abstract and cover navigable areas using a smaller number of nodes and edges than a probabilistic roadmap. During the incremental process of constructing HRM, information on navigable areas is abstracted using a sonar gridmap when the mobile robot navigates an unexplored area. The HRM-based planner efficiently searches for paths to answer queries by reducing the search space size using the multi-layered graphical structure. The benefits of the proposed HRM are experimentally verified in real indoor environments.
- KSP 제안 키워드
- Construction process, Efficient path, Incremental process, Indoor Environment, Mobile robots, Probabilistic roadmap, Search Space, path planning