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    국내학술지 제목 게시판 내용
    제목(국문) 샘플링 기법의 보완을 통한 RRT 기반 온라인 이동 계획의 성능 개선
    제목(영문) Improvement of Online Motion Planning based on RRT* by Modification of the Sampling Method
    저자 이희범 (Hee Beom Lee ,서울대학교 기계항공우주공학과 ) ▷공저자네트워크등록하기
    곽휘권 (HwyKuen Kwak ,Command & Control Group, :Hanwha Thales ) ▷공저자네트워크등록하기
    김준원 (JoonWon Kim ,Command & Control Group, :Hanwha Thales ) ▷공저자네트워크등록하기
    이춘우 (ChoonWoo Lee ,Command & Control Group, :Hanwha Thales ) ▷공저자네트워크등록하기
    김현진 (Hyoun Jin Kim ,서울대학교 기계항공공학부, 조교수 ) ▷공저자네트워크등록하기
    초록
    초록(영문)

    Motion planning problem is still one of the important issues in robotic applications. In many real-time motion planning problems, it is advisable to find a feasible solution quickly and improve the found solution toward the optimal one before the previously-arranged motion plan ends. For such reasons, sampling-based approaches are becoming popular for real-time application. Especially the use of a rapidly exploring random tree* (RRT*) algorithm is attractive in real-time application, because it is possible to approach an optimal solution by iterating itself. This paper presents a modified version of informed RRT* which is an extended version of RRT* to increase the rate of convergence to optimal solution by improving the sampling method of RRT*. In online motion planning, the robot plans a path while simultaneously moving along the planned path. Therefore, the part of the path near the robot is less likely to be sampled extensively. For a better solution in online motion planning, we modified the sampling method of informed RRT* by combining with the sampling method to improve the path nearby robot. With comparison among basic RRT*, informed RRT* and the proposed RRT* in online motion planning, the proposed RRT* showed the best result by representing the closest solution to optimum.

    keyword online motion planning, RRT*, RRT* sampling method
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 22
    PAGE 0192
    발표년도 2016
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