A practical roadmap for the path planning of mobile robots in rectilinear environments

Nakju Lett Doh; Chanki Kim; Sangik Na; Won Pil Yu; Youngjo Cho; Wan Kyun Chung

doi:10.1109/SICE.2006.315424

A practical roadmap for the path planning of mobile robots in rectilinear environments

Nakju Lett Doh, Chanki Kim, Sangik Na, Won Pil Yu, Youngjo Cho, Wan Kyun Chung

Department of Life Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper we propose a practical roadmap for mobile robots with differential wheel base. The roadmap is designed for a rectilinear environment which covers most of indoor buildings. In designing the roadmap, we put emphasis on two issues: (1) human friendly path and (2) low computation. First, we analyze how human move. From the human movement, we find out that human navigate in a way that minimizes the sum of a muscle and a brain energy. On the basis of the human path, we suggest an algorithm with low calculations. Experimental results show that the path generated by our method is more human-friendly and natural.

Original language	English
Title of host publication	2006 SICE-ICASE International Joint Conference
Pages	2022-2027
Number of pages	6
DOIs	https://doi.org/10.1109/SICE.2006.315424
Publication status	Published - 2006
Event	2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of Duration: 2006 Oct 18 → 2006 Oct 21

Publication series

Name	2006 SICE-ICASE International Joint Conference

Other

Other	2006 SICE-ICASE International Joint Conference
Country/Territory	Korea, Republic of
City	Busan
Period	06/10/18 → 06/10/21

Keywords

Human-robot interaction
Minimum energy path
Path planning
Rectilinear environment
Roadmap
Time-optimal path
Visibility graph

ASJC Scopus subject areas

Computer Science Applications
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/SICE.2006.315424

Cite this

Doh, NL, Kim, C, Na, S, Yu, WP, Cho, Y & Chung, WK 2006, A practical roadmap for the path planning of mobile robots in rectilinear environments. in 2006 SICE-ICASE International Joint Conference., 4109019, 2006 SICE-ICASE International Joint Conference, pp. 2022-2027, 2006 SICE-ICASE International Joint Conference, Busan, Korea, Republic of, 06/10/18. https://doi.org/10.1109/SICE.2006.315424

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title = "A practical roadmap for the path planning of mobile robots in rectilinear environments",

abstract = "In this paper we propose a practical roadmap for mobile robots with differential wheel base. The roadmap is designed for a rectilinear environment which covers most of indoor buildings. In designing the roadmap, we put emphasis on two issues: (1) human friendly path and (2) low computation. First, we analyze how human move. From the human movement, we find out that human navigate in a way that minimizes the sum of a muscle and a brain energy. On the basis of the human path, we suggest an algorithm with low calculations. Experimental results show that the path generated by our method is more human-friendly and natural.",

keywords = "Human-robot interaction, Minimum energy path, Path planning, Rectilinear environment, Roadmap, Time-optimal path, Visibility graph",

author = "Doh, {Nakju Lett} and Chanki Kim and Sangik Na and Yu, {Won Pil} and Youngjo Cho and Chung, {Wan Kyun}",

year = "2006",

doi = "10.1109/SICE.2006.315424",

language = "English",

isbn = "8995003855",

series = "2006 SICE-ICASE International Joint Conference",

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note = "2006 SICE-ICASE International Joint Conference ; Conference date: 18-10-2006 Through 21-10-2006",

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AU - Doh, Nakju Lett

AU - Kim, Chanki

AU - Na, Sangik

AU - Yu, Won Pil

AU - Cho, Youngjo

AU - Chung, Wan Kyun

PY - 2006

Y1 - 2006

N2 - In this paper we propose a practical roadmap for mobile robots with differential wheel base. The roadmap is designed for a rectilinear environment which covers most of indoor buildings. In designing the roadmap, we put emphasis on two issues: (1) human friendly path and (2) low computation. First, we analyze how human move. From the human movement, we find out that human navigate in a way that minimizes the sum of a muscle and a brain energy. On the basis of the human path, we suggest an algorithm with low calculations. Experimental results show that the path generated by our method is more human-friendly and natural.

AB - In this paper we propose a practical roadmap for mobile robots with differential wheel base. The roadmap is designed for a rectilinear environment which covers most of indoor buildings. In designing the roadmap, we put emphasis on two issues: (1) human friendly path and (2) low computation. First, we analyze how human move. From the human movement, we find out that human navigate in a way that minimizes the sum of a muscle and a brain energy. On the basis of the human path, we suggest an algorithm with low calculations. Experimental results show that the path generated by our method is more human-friendly and natural.

KW - Human-robot interaction

KW - Minimum energy path

KW - Path planning

KW - Rectilinear environment

KW - Roadmap

KW - Time-optimal path

KW - Visibility graph

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U2 - 10.1109/SICE.2006.315424

DO - 10.1109/SICE.2006.315424

M3 - Conference contribution

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SN - 8995003855

SN - 9788995003855

T3 - 2006 SICE-ICASE International Joint Conference

SP - 2022

EP - 2027

BT - 2006 SICE-ICASE International Joint Conference

T2 - 2006 SICE-ICASE International Joint Conference

Y2 - 18 October 2006 through 21 October 2006

ER -

A practical roadmap for the path planning of mobile robots in rectilinear environments

Abstract

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Keywords

ASJC Scopus subject areas

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