|제목(국문)||무인 주행 차량의 하이브리드 경로 생성을 위한 B-spllne 곡선의 조정점 선정 알고리즘|
|제목(영문)||A UGV Hybrid Path Generation Method by using B-spline Curve’s Control Point Selection Algorithm|
This research presents an A* based algorithm which can be applied to Unmanned Ground Vehicle self-navigation in order to make the driving path smoother. Based on the grid map, A* algorithm generated the path by using straight lines. However, in this situation, the knee points, which are the connection points when vehicle changed orientation, are created. These points make Unmanned Ground Vehicle continuous navigation unsuitable. Therefore, in this paper, B-spline curve function is applied to transform the path transfer into curve type. And because the location of the control point has influenced the B-spline curve, the optimal control selection algorithm is proposed. Also, the optimal path tracking speed can be calculated through the curvature radius of the B-spline curve. Finally, based on this algorithm, a path created program is applied to the path results of the A* algorithm and this B-spline curve algorithm. After that, the final path results are compared through the simulation.
|keyword||B-spline, UGV, optimal path generation, optimal path tracking|