|제목(국문)||무인운전차량의 자율주행을 위한 경로점 기반 경로계획|
|제목(영문)||Path Planning for Autonomous Navigation of a Driverless Ground Vehicle Based on Waypoints|
This paper addresses an algorithm of path planning for autonomous driving of a ground vehicle in waypoint navigation. The proposed algorithm is flexible in utilization under a large GPS positioning error and generates collision-free multiple paths while pursuing minimum traveling time. An optimal path reduces inefficient steering by minimizing lateral changes in generated waypoints along a path. Simulation results compare the proposed algorithm with the A* algorithm by manipulation of the steering wheel and traveling time, and show that the proposed algorithm realizes real-time obstacle avoidance by quick processing of path generation, and minimum time traveling by producing paths with small lateral changes while overcoming the very irregular positioning error from the GPS.
|keyword||path planning, autonomous vehicle, obstacle avoidance, collision-free waypoint navigation, GPS positioning error|