TY - GEN
T1 - Comparative analysis of path planners for a car-like mobile robot in a cluttered environment
AU - Kwon, Hyunki
AU - Chung, Woojin
PY - 2011
Y1 - 2011
N2 - A car parking control problem is difficult because of nonholonomic constraints and complicated environmental geometry. We proposed KPP (Korea University Path Planner) in our prior work. KPP is a appropriate scheme for a car-like mobile robot in a parking environment. The purpose of this paper is to investigate the advantages of KPP through both quantitative and qualitative analyses. For comparison, numerical simulations have been carried out by the application of KPP and the conventional RRT (Rapidly Exploring Random Tree) method. The RRT scheme is one of the widely used path planning schemes owing to its superior performance. This paper shows that KPP exhibits outstanding performance from the viewpoints of optimality and computational efficiency.
AB - A car parking control problem is difficult because of nonholonomic constraints and complicated environmental geometry. We proposed KPP (Korea University Path Planner) in our prior work. KPP is a appropriate scheme for a car-like mobile robot in a parking environment. The purpose of this paper is to investigate the advantages of KPP through both quantitative and qualitative analyses. For comparison, numerical simulations have been carried out by the application of KPP and the conventional RRT (Rapidly Exploring Random Tree) method. The RRT scheme is one of the widely used path planning schemes owing to its superior performance. This paper shows that KPP exhibits outstanding performance from the viewpoints of optimality and computational efficiency.
UR - http://www.scopus.com/inward/record.url?scp=84860714578&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2011.6181352
DO - 10.1109/ROBIO.2011.6181352
M3 - Conference contribution
AN - SCOPUS:84860714578
SN - 9781457721373
T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
SP - 602
EP - 607
BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Y2 - 7 December 2011 through 11 December 2011
ER -