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    Please use this identifier to cite or link to this item: http://ir.lib.ksu.edu.tw/handle/987654321/20374


    Title: DYNAMIC PROGRAMMING BASED ROBOT-PATH PLANNING FOR INDOOR DYNAMIC ENVIRONMENT
    Authors: C.Wang
    M.-S. Chen
    Y.-D. Fu
    K.-S. Chen
    C.-T Huang
    Contributor: Department of Mechanical Engineering, National Cheng-Kung University
    Keywords: robotics
    dynamic programming
    path-planning
    dynamic environment
    Date: 2013-11-02
    Issue Date: 2013-11-14 14:58:01 (UTC+8)
    Abstract: Robotics have helped improve human life in different aspects. The extensive use of domestic robots has increased in recent years. One of the technologies behind such development is robot navigation. Indoor robot-path planning in particular has been a complex issue due to the uncertainties of real-life dynamic environment. The proposed algorithm is based on dynamic programming (DP) for optimizing the traveling distance of a robot on the condition of obstacle- voiding. Maps with various terrains are constructed by the combination of potential functions, enhancing the flexibility in both static and dynamic environments. Dynamic Programming is then used to search for the optimized path in accordance to cost settings. The algorithm was first simulated in Matlab and later realized in an autonomous robot and wiimote localization system. The proposed method works as normal DP in a static environment, and outperforms traditional potential field under such conditions in terms of distance and efficiency. The algorithm also works in dynamic environment by the extensive use of its properties.
    Appears in Collections:[機械工程系所] Automation 2013- The 12th International Conference on Automation Technology

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