Kun Shan University Institutional Repository:Item 987654321/20374
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    題名: DYNAMIC PROGRAMMING BASED ROBOT-PATH PLANNING FOR INDOOR DYNAMIC ENVIRONMENT
    作者: C.Wang
    M.-S. Chen
    Y.-D. Fu
    K.-S. Chen
    C.-T Huang
    貢獻者: Department of Mechanical Engineering, National Cheng-Kung University
    關鍵詞: robotics
    dynamic programming
    path-planning
    dynamic environment
    日期: 2013-11-02
    上傳時間: 2013-11-14 14:58:01 (UTC+8)
    摘要: 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.
    顯示於類別:[機械工程系所] Automation 2013- The 12th International Conference on Automation Technology

    文件中的檔案:

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    M002.pdf10KbAdobe PDF213檢視/開啟
    Robotics_FULL_0002.pdf1244KbAdobe PDF0檢視/開啟


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