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dc.contributor.author Kang, W.-S. ko
dc.contributor.author Lee, S.-H. ko
dc.contributor.author Abibullaev, B. ko
dc.contributor.author Kim, J ko
dc.contributor.author An, J. ko
dc.date.available 2017-07-11T08:19:14Z -
dc.date.created 2017-06-25 -
dc.date.issued 2010 -
dc.identifier.citation 15th International Symposium on Artificial Life and Robotics, AROB '10, pp.959 - 962 -
dc.identifier.isbn 9784990288044 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/3964 -
dc.description.abstract Path planning has been studied focusing on finding the shortest paths or smallest movements. The previous methods, however, are not suitable for stable movements on real environments in which various dynamic obstacles exist. In this paper, we suggest a path planning algorithm that makes the movement of an autonomous robot easier in a dynamic environment. Our focus is based on finding optimal movements for mobile robot to keep going on a stable situation but not on finding shortest paths or smallest movements. The proposed algorithm is based on GA and uses kmeans cluster analysis algorithm to recognize the much more information of obstacles distribution in real-life space. Simulation results confirmed to have better performance and stability of the proposed algorithm. In order to validate our results, we compared with a previous algorithm based on grid maps-based algorithm for static obstacles and dynamic obstacles environment. © 2010 ISAROB. -
dc.publisher Springer Japan -
dc.title Path planning algorithm using the values clustered by k-means -
dc.type Conference -
dc.identifier.scopusid 2-s2.0-84866717334 -
dc.type.rims CONF -
dc.identifier.citationStartPage 959 -
dc.identifier.citationEndPage 962 -
dc.identifier.citationTitle 15th International Symposium on Artificial Life and Robotics, AROB '10 -
dc.type.journalArticle Conference Paper -
dc.identifier.conferencecountry JA -
dc.identifier.conferencelocation Beppu, Oita -
dc.contributor.affiliatedAuthor Kang, W.-S. -
dc.contributor.affiliatedAuthor Abibullaev, B. -
dc.contributor.affiliatedAuthor Kim, J -
dc.contributor.affiliatedAuthor An, J. -

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