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

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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 languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • 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


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