An Efficient Path Planning Algorithm Guided by Obstacle Information
- Title
- An Efficient Path Planning Algorithm Guided by Obstacle Information
- Alternative Title
- 장애물 정보에 기반한 효율적인 경로 계획 알고리즘
- Author(s)
- Minsu Kim
- DGIST Authors
- Minsu Kim ; Kyoung-Dae Kim ; Jeongho Kwak
- Advisor
- 김경대
- Co-Advisor(s)
- Jeongho Kwak
- Issued Date
- 2023
- Awarded Date
- 2023-08-01
- Type
- Thesis
- Description
- Sampling-based; Motion Planning; Pathfinding
- Table Of Contents
-
I. Introduction 1
II. Related Works 3
2.1 Connectivity Improvement Algorithms 3
2.2 Dynamic Planning Algorithms 4
III. Algorithm 6
3.1 RRT-Connect Algorithm 6
3.2 Wall-Follower Algorithm 8
3.2.1 Algorithm Concept 8
3.2.2 Algorithm Flow 9
3.2.3 Scan Function 10
3.2.4 CornerConnect Function 11
IV. Experiment 13
4.1 Comparison Planners 13
4.2 Experiment Setting 14
4.2.1 Map Setting 14
4.2.2 Planner Setting 15
4.3 Experiment Result 15
V. Conclusion 18
References 19
요약문 22
- URI
-
http://hdl.handle.net/20.500.11750/46443
http://dgist.dcollection.net/common/orgView/200000688737
- Degree
- Master
- Publisher
- DGIST
- Related Researcher
-
-
Kim, Kyoung-Dae
- Research Interests
-
- Files in This Item:
-
There are no files associated with this item.
- Appears in Collections:
- Department of Electrical Engineering and Computer Science Theses Master
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