로봇 경로 제어를 위한 속도기반 Dijkstra 알고리즘

Title
로봇 경로 제어를 위한 속도기반 Dijkstra 알고리즘
Other Titles
A Speed-Based Dijkstra Algorithm for the Line Tracer Control of a Robot
Author(s)
김종근천성권[천성권]김근덕[김근덕]
Keywords
Speed-Based; Dijkstra Algorithm; A-Star Algorithm; Robot; Shortest Path; Line Tracer
Issue Date
201112
Publisher
한국IT서비스학회
Citation
한국IT서비스학회지, v.10, no.4, pp.259 - 268
Abstract
A robot education system by emulation based on Web can be efficiently used for understanding concept of robot assembly practice and control mechanism of robot by control programming. It is important to predict the path of the line tracer robot which has to be decided by the robot. Shortest Path Algorithm is a well known algorithm which searches the most efficient path between the start node and the end node. There are two related typical algorithms. Dijkstra Algorithm searches the shortest path tree from a node to the rest of the other nodes. A Algorithm searches the shortest paths among all nodes. The delay time caused by turning the direction of navigation for the line tracer robot at the crossroads can give big differences to the travel time of the robot. So we need an efficient path determine algorithm which can solve this problem. Thus, It is necessary to analyze the overhead of changing direction of robot at multi-linked node to determine the next direction for efficient routings. In this paper, we reflect the real delay time of directional changing from the real robot. A speed based Dijkstra algorithm is proposed and compared with the previous ones to analyze the performance.
URI
http://hdl.handle.net/YU.REPOSITORY/24034
ISSN
1975-4256
Appears in Collections:
공과대학 > 컴퓨터공학과 > Articles
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