Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A Study on a Path Planning and Real-Time Trajectory Control of Autonomous Travelling Robot for Unmanned FA

무인FA를 위한 자율주행 로봇의 경로계획 및 실시간 궤적제어에 관한 연구

  • Received : 2016.05.17
  • Accepted : 2016.06.14
  • Published : 2016.06.30
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Abstract

This study proposes a efficient technology to control the optimal trajectory planning and real-time implementation method which can perform autonomous travelling for unmaned factory automation. Online path planning should plan and execute alternately in a short time, and hence it enables the robot avoid unknown dynamic obstacles which suddenly appear on robot's path. Based on Route planning and control algorithm, we suggested representation of edge cost, heuristic function, and priority queue management, to make a modified Route planning algorithm. Performance of the proposed algorithm is verified by simulation test.

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References

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