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Path Planning of Car-like Mobile Robot in Cluttered Environments

Hyun-ki KWON,  Woo-jin CHUNG

 

(Dept. of mechanical Engineering, Korea University, Seoul 136-701, Korea)

 

Abstract-We have proposed the KPP (Korea University Path Planner) in our prior work. The KPP in Ref.[6] is the path planning scheme of a car-like mobile robot in a parking environment. The objective of this paper is to investigate the advantages of the KPP through both quantitative and qualitative analysis. For comparison, numerical simulations have been carried out by the application of the KPP and the conventional Probabilistic Roadmap approach. The Probabilistic Roadmap approach is one of the widely used path planning schemes owing to its superior performance. This paper shows that the KPP shows outstanding performance from the viewpoints of optimality and computational efficiency.

 

Key words-path planning; car-like mobile robot; Korea University path planner; non-holonomic planning

 

Manuscript Number: 1674-8042(2011)supp1.-0009-04

 

doi: 10.3969/j.issn.1674-8042.2011.supp1.003

 

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