Comparative analysis of path planners for a car-like mobile robot in a cluttered environment

Hyunki Kwon; Woojin Chung

doi:10.1109/ROBIO.2011.6181352

Comparative analysis of path planners for a car-like mobile robot in a cluttered environment

Hyunki Kwon^*
, Woojin Chung

^*Corresponding author for this work

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

4 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages	602-607
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2011.6181352
Publication status	Published - 2011
Event	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand Duration: 2011 Dec 7 → 2011 Dec 11

Publication series

Name	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Other

Other	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Country/Territory	Thailand
City	Phuket
Period	11/12/7 → 11/12/11

ASJC Scopus subject areas

Computer Vision and Pattern Recognition

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10.1109/ROBIO.2011.6181352

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Comparative analysis of path planners for a car-like mobile robot in a cluttered environment. / Kwon, Hyunki; Chung, Woojin.
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 602-607 6181352 (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011).

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

Kwon, H & Chung, W 2011, Comparative analysis of path planners for a car-like mobile robot in a cluttered environment. in 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011., 6181352, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, pp. 602-607, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Phuket, Thailand, 11/12/7. https://doi.org/10.1109/ROBIO.2011.6181352

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title = "Comparative analysis of path planners for a car-like mobile robot in a cluttered environment",

abstract = "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.",

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Comparative analysis of path planners for a car-like mobile robot in a cluttered environment

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