Suhyeon Gim

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The technique of simultaneous localization and mapping has received much attention recently in mobile robotics. When map is being built, robot memorizes environmental information on the plane of grid or topology. Several approaches about this research have been presented so far, but most of them use mapping technique as either grid-based map or(More)
This paper presents smooth trajectory generation scheme for obstacle avoidance in static and dynamic environment. The smooth trajectory has successive two steps where smooth path is generated firstly and then corresponding velocity is planned along the path. Smooth path of continuous curvature is composed by parametrically adjusted clothoids with proposed(More)
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