Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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Navigation Technique of Unmanned Vehicle Using Potential Field Method

포텐셜 필드 기법을 이용한 무인차량의 자율항법 개발

  • Lee, Sang-Won (Graduate School of Mechanical Engineering, Pusan National University) ;
  • Moon, Young-Geun (Graduate School of Mechanical Engineering, Pusan National University) ;
  • Kim, Sung-Hyun (Automoble Department, Busan College of Information Technology) ;
  • Lee, Min-Cheol (School of Mechnical Engineering, Pusan National University)
  • 이상원 (부산대학교 기계공학부) ;
  • 문영근 (부산대학교 기계공학부) ;
  • 김성현 (부산정보대학 자동차계열) ;
  • 이민철 (부산대학교 기계공학부)
  • Received : 2009.12.18
  • Accepted : 2011.03.14
  • Published : 2011.07.01
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Abstract

This paper proposes a real-time navigation algorithm which integrates the artificial potential field (APF) for an unmanned vehicle in the unknown environment. This approach uses repulsive potential function around the obstacles to force the vehicle away and an attractive potential function around the goal to attract the vehicle. In this research, laser range finder is used as range sensor. An obstacle detected by the sensor creates repulsive vector. Differential global positioning system (DGPS) and digital compass are used to measure the current vehicle position and orientation. The measured vehicle position is also used to create attractive vector. This paper proposes a new concept of potential field based navigation which controls unmanned vehicle's speed and steering. The magnitude of repulsive force based on the proposed algorithm is designed not to be over the magnitude of attractive force while the magnitude is increased linearly as being closer to obstacle. Consequently, the vehicle experiences a generalized force toward the negative gradient of the total potential. This force drives the vehicle downhill towards its goal configuration until the vehicle reaches minimum potential and it stops. The effectiveness of the proposed APF for unmanned vehicle is verified through simulation and experiment.

Keywords

References

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