Title

An Efficient Path Planning Algorithm Guided by Obstacle Information

Alternative Title

장애물 정보에 기반한 효율적인 경로 계획 알고리즘

DGIST Authors

Minsu Kim ; Kyoung-Dae Kim ; Jeongho Kwak

Advisor

김경대

Co-Advisor(s)

Jeongho Kwak

Issued Date

2023

Awarded Date

2023-08-01

Citation

Minsu Kim. (2023). An Efficient Path Planning Algorithm Guided by Obstacle Information. doi: 10.22677/THESIS.200000688737

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

DOI

10.22677/THESIS.200000688737

Degree

Master

Department

Department of Electrical Engineering and Computer Science

Publisher

DGIST

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