Engineering topics

Suh, Suk-Hwan

Publications and source records attributed to Suh, Suk-Hwan.

2 records

NASA NTRS1988

A variational dynamic programming approach to robot-path planning with a distance-safety criterion

An approach to robot-path planning is developed by considering both the traveling distance and the safety of the robot. A computationally-efficient algorithm is developed to find a near-optimal path with a weighted distance-safety criterion by using a variational calculus and dynamic programming (VCDP) method. The algorithm is readily applicable to any factory environment by representing the free workspace as channels. A method for deriving these channels is also proposed. Although it is developed mainly for two-dimensional problems, this method can be easily extended to a class of three-dimensional problems. Numerical examples are presented to demonstrate the utility and power of this method.

Suh, Suk-Hwan↗

NASA NTRS1987

Robot path planning with distance-safety criterion

A method for determining an optimal path with a weighted distance-safety criterion is developed. The goal is to strike a compromise between the shortest path and the centerline path, which is safer. The method is composed of three parts: (i) construction of a region map by dividing the workspace, (ii) interregion optimization to determine the entry and departure points of the path in each region, and (iii) intraregion optimization for determining the (optimal) path segment within each region. The region map is generated by using an approximate Voronoi diagram, and region optimization is achieved using variational dynamic programming. Although developed for 2-D problems, the method can be easily extended to a class of 3-D problems. Numerical examples are presented to demonstrate the method.

Suh, Suk-Hwan↗