http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
남동현(Dong Hyon Nam),이승희(Seunghee Lee),박종현(Jong Hyeon Park) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
This paper presents the integration of occupancy grid mapping and path planning for navigation of a mobile robot in unknown environment with binocular stereo vision as an only sensor. Since the visual information for building occupancy grid map in real time is noisy, a modified simple map updating algorithm is proposed. The proposed algorithm provides fast and reliable results. And we also propose real-time robot direction decision algorithms in path planning. The algorithms provide appropriate responses to unanticipated real world events when it is used with A* search algorithm. Experimental results show that the proposed algorithms are effective and well-designed for autonomous navigation with stereo vision system.