Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)
- Volume 13 Issue 2
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- Pages.85-92
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- 2010
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- 1226-833X(pISSN)
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- 2765-5415(eISSN)
Wide-Range Mapping Methodology for Unmanned Ground Vehicle Based on DGPS
무인자율차량 적용을 위한 DGPS 기반 전역지도 작성기법
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Shon, Woong-Hee
(Hanyang University) ;
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Yu, Seung-Nam
(Hanyang University) ;
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Kim, Young-Il
(Ajou Motor College) ;
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Han, Chang-Soo
(Dept. of Mechanical Engineering of Hanyang University)
- Received : 2009.12.23
- Accepted : 2010.05.20
- Published : 2010.05.31
Abstract
This study shows the path generation algorithm for an UGV (Unmanned Ground Vehicle). The developed UGV frame which has a 4-wheel driven mechanism and diesel source is applied. Proposed vehicle system in this research is aimed to military purpose. To achieve the unmanned autonomous driving, following two main issues are considered. First, behavior module for positioning and posture of vehicle system and second, cognition module to receive the information from environment are proposed and verified. To do this, rover which can acquire the positioning information from earth coordinate and IMU (Inertial Measurement Unit) which can measure the posture are combined to design the path planning algorithm.