한국군사과학기술학회지 (Journal of the Korea Institute of Military Science and Technology)

  • 제13권2호
  • /
  • Pages.171-179
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  • 2010
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  • 1598-9127(pISSN)
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  • 2636-0640(eISSN)
한국군사과학기술학회 (The Korea Institute of Military Science and Technology)
권호 표지

무인차량의 주행성능을 고려한 장애물 격자지도 기반의 지역경로계획

A Local Path Planning Algorithm considering the Mobility of UGV based on the Binary Map

  • 투고 : 2009.12.01
  • 심사 : 2010.02.04
  • 발행 : 2010.04.05
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초록

A fundamental technology of UGV(Unmanned Ground Vehicle) to perform a given mission with success in various environment is a path planning method which generates a safe and optimal path to the goal. In this paper, we suggest a local path-planning method of UGV based on the binary map using world model data which is gathered from terrain perception sensors. In specially, we present three core algorithms such as shortest path computation algorithm, path optimization algorithm and path smoothing algorithm those are used in the each composition module of LPP component. A simulation is conducted with M&S(Modeling & Simulation) system in order to verify the performance of each core algorithm and the performance of LPP component with scenarios.

키워드

참고문헌

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