Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
권호 표지

Developments of a Path Planning Algorithm and Simulator for Unmanned Ground Vehicle

무인자율차량을 위한 경로계획 알고리즘 및 시뮬레이터 개발

  • 김상겸 (에프엠전자㈜기술연구소) ;
  • 김성균 (에프엠전자㈜기술연구소) ;
  • 이용우 (에프엠전자㈜기술연구소)
  • Published : 2007.05.01
Download PDF
⟨ Previous Next ⟩

Abstract

A major concern for Autonomous Military Robot in the rough terrain is the problem of moving robot from an initial configuration to goal configuration. In this paper, We generate a local path to looking for the best route to move an goal configuration while avoiding known obstacle from world model, not violating the mobility constraints of robot. Trough a Simulator for Unmanned Autonomous Vehicle, We can simulate a traversability of unmanned autonomous vehicle based on steering, acceleration, braking command obtained from local path planning.

Keywords

References

  1. T. J. Park, B. G. Ryu, C. S. Han, J. K. Park, J. Y. Lee and S. H. Back, 'Development of the Path Algorithm for an Unmanned Ground Vehicle,' Proceeding of KIMST, pp.895-898, 2005
  2. T. S. Choe, J. Kim, Y. W. Park and T. Y. Ji, 'Global Path Planning for Unmanned Autonomous Vehicles on Rough Terrain,' Proceeding of KIMST, pp.883-886, 2005
  3. A. Zelinsky, 'A Mobile Robot Exploration Algorithm,' IEEE Transactions on Robotics and Automation, Vol.8, No.6, pp.707-717, 1992 https://doi.org/10.1109/70.182671
  4. G. Sarah, What is Path Planning, Autonomous Solutions Inc, pp.1-4, 2003
  5. Y. W. Lee, M. G. Kim, S. G. Kim and H. Y. Park, 'Real-time Integrate World Modeling based on Multi Sensor Fusion for Autonomous Navigation in the Field Terrain,' Proceeding of KIMST, pp.879-882, 2005
  6. P. Garnier, T. Fraicheard, C. Laugier, I. Paromtichik and A. Scheuer, 'Motion Autonomy Through Sensor-Guided Manoeuvres,' Institu National de Recherche en Informatique et en Automatique, pp.4-5, 1997
  7. Joint Architecture for Unmanned Systems (JAUS) Reference Architecture, Version 3.0, http://www.jauswg.org/
  8. S. G. Kim and J. H. Kim, 'Research of the Unmanned Vehicle Control and Modeling for Obstacle Detection and Avoidance,' Transactions of KSAE, Vol.11, No.5, pp.183-192, 2003
  9. S. G. Kim, T. Galluzzo, D. Macarthur, S. Solank, E. Zawodny, D. Kent, J. H. Kim and C. D. Crane, 'Design of an Unmanned Ground Vehicle, Tailgator Theory and Practice,' Int. J. Automotive Technology, Vol.7, No.1, pp.83-90, 2006