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ISSN : 1975-6291(Print)
ISSN : 2287-3961(Online)
Journal of Korea Robotics Society Vol.6 No.3 pp.255-262

플로우 네트워크를 이용한 지능형 로봇의 경로계획

김 국 환1, 김 형2, 김 병 수1, 이 순 걸3
1경희대학교기계공학과대학원, 2생산기술연구원, 3경희대학교기계공학과

Path Planning for an Intelligent Robot Using Flow Networks

Gook-Hwan Kim1, Hyung Kim2, Byoung-Soo Kim1, Soon-Geul Lee3

Received : Apr. 14. 2011, Reviewed : Jul. 18. 2011, Accepted : Aug. 15. 2011


Many intelligent robots have to be given environmental information to perform tasks. Inthis paper an intelligent robot, that is, a cleaning robot used a sensor fusing method of two sensors:LRF and StarGazer, and then was able to obtain the information. Throughout wall following usinglaser displacement sensor, LRF, the working area is built during the robot turn one cycle around thearea. After the process of wall following, a path planning which is able to execute the workeffectively is established using flow network algorithm. This paper describes an algorithm forminimal turning complete coverage path planning for intelligent robots. This algorithm divides thewhole working area by cellular decomposition, and then provides the path planning among the cellsemploying flow networks. It also provides specific path planning inside each cell guaranteeing theminimal turning of the robots. The proposed algorithm is applied to two different working areas, andverified that it is an optimal path planning method.


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