The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Path Planning for the Shortest Driving Time Considering UGV Driving Characteristic and Driving Time and Its Driving Algorithm

무인 주행 차량의 주행 특성과 주행 시간을 고려한 경로 생성 및 주행 알고리즘

  • Noh, Chi-Beom (Mechanical Engineering, Pusan National University) ;
  • Kim, Min-Ho (Mechanical Engineering, Pusan National University) ;
  • Lee, Min-Cheol (Mechanical Engineering, Pusan National University)
  • Received : 2012.11.05
  • Accepted : 2013.01.24
  • Published : 2013.02.28
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Abstract

$A^*$ algorithm is a global path generation algorithm, and typically create a path using only the distance information. Therefore along the path, a moving vehicle is usually not be considered by driving characteristics. Deceleration at the corner is one of the driving characteristics of the vehicle. In this paper, considering this characteristic, a new evaluation function based path algorithm is proposed to decrease the number of driving path corner, in order to reduce the driving cost, such as driving time, fuel consumption and so on. Also the potential field method is applied for driving of UGV, which is robust against static and dynamic obstacle environment during following the generated path of the mobile robot under. The driving time and path following test was occurred by experiments based on a pseudo UGV, mobile robot in downscaled UGV's maximum and driving speed in corner. The experiment results were confirmed that the driving time by the proposed algorithm was decreased comparing with the results from $A^*$ algorithm.

Keywords

References

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