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국내 최대 기계 및 로봇 연구정보
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  • 국내학술지

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    국내학술지 제목 게시판 내용
    제목(국문) 무인운전차량의 자율주행을 위한 경로점 기반 경로계획
    제목(영문) Path Planning for Autonomous Navigation of a Driverless Ground Vehicle Based on Waypoints
    저자 NULL
    초록
    초록(영문)
    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
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 20
    PAGE 211-217
    발표년도 2014
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    영문File
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