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Long-term Stealth Navigation in a Security Zone where the Movement of the Invader is Monitored
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  • Long-term Stealth Navigation in a Security Zone where the Movement of the Invader is Monitored
  • Long-term Stealth Navigation in a Security Zone where the Movement of the Invader is Monitored
저자명
Park. Jung-Hee,Choi. Jeong-S.,Kim. Ji-Min,Ji. Sang-Hoon,Lee. Beom-H.
간행물명
International Journal of Control, Automation and Systems
권/호정보
2010년|8권 3호|pp.604-614 (11 pages)
발행정보
제어로봇시스템학회
파일정보
정기간행물|ENG|
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이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
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기타언어초록

This paper deals with the security robot motion planning in order to stealthily approach the backside of the invader based on an active prediction planning execution (APPE) strategy. The stealth navigation is needed in the security system because the invader will try to run away from the robot when it detects the robot. We propose an algorithm for making the robot to approach the invader stealthily within a desired range. We predict the long-term motion of the invader and plan the security robot motion by using detection map. It represents the region that the robot can move stealthily on a certain path. The robot motion can be separately planned as a geometric path and a speed profile using detection map. The path is planned on the predetermined roadmap. The speed profile is planned so that the robot is not detected by the invader. The simulation results demonstrate that our algorithm is efficient for shortening the distance between the robot and the invader when the invader first detects the robot. Our algorithm is compared with the case that does not consider the stealth condition of the robot and the grid-based method.