DC Field | Value | Language |
---|---|---|
dc.contributor.author | Park, Byungjae | - |
dc.contributor.author | Choi, Jinwoo | - |
dc.contributor.author | Chung, Wan Kyun | - |
dc.date.accessioned | 2019-04-07T16:55:22Z | - |
dc.date.available | 2019-04-07T16:55:22Z | - |
dc.date.created | 2018-09-03 | - |
dc.date.issued | 2018-08 | - |
dc.identifier.issn | 1225-6463 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/95709 | - |
dc.description.abstract | This paper proposes a hierarchical roadmap (HRM) and its construction process to efficiently represent navigable areas in an indoor environment. HRM is adopted to solve the path-planning problems of mobile robots in indoor environments. HRM has a multi-layered graphical structure that enables it to abstract and cover navigable areas using a smaller number of nodes and edges than a probabilistic roadmap. During the incremental process of constructing HRM, information on navigable areas is abstracted using a sonar gridmap when the mobile robot navigates an unexplored area. The HRM-based planner efficiently searches for paths to answer queries by reducing the search space size using the multi-layered graphical structure. The benefits of the proposed HRM are experimentally verified in real indoor environments. | - |
dc.language | English | - |
dc.publisher | WILEY | - |
dc.relation.isPartOf | ETRI JOURNAL | - |
dc.title | Incremental hierarchical roadmap construction for efficient path planning | - |
dc.type | Article | - |
dc.identifier.doi | 10.4218/etrij.2018-0041 | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | ETRI JOURNAL, v.40, no.4, pp.458 - 470 | - |
dc.identifier.kciid | ART002373663 | - |
dc.identifier.wosid | 000440917300005 | - |
dc.citation.endPage | 470 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 458 | - |
dc.citation.title | ETRI JOURNAL | - |
dc.citation.volume | 40 | - |
dc.contributor.affiliatedAuthor | Chung, Wan Kyun | - |
dc.identifier.scopusid | 2-s2.0-85051221237 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.type.docType | Article | - |
dc.subject.keywordPlus | ROBOT | - |
dc.subject.keywordPlus | REPRESENTATION | - |
dc.subject.keywordPlus | ENVIRONMENTS | - |
dc.subject.keywordAuthor | environment representation | - |
dc.subject.keywordAuthor | gridmap | - |
dc.subject.keywordAuthor | mobile robot | - |
dc.subject.keywordAuthor | path planning | - |
dc.subject.keywordAuthor | probabilistic roadmap | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Telecommunications | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Telecommunications | - |
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