Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Safe Climbing Path Planning by Image Processing

영상 처리에 의한 안전한 등반 경로 계획

  • 염동회 (군산대학교 PostBK21사업팀) ;
  • 김종선 (군산대학교 제어로봇공학과) ;
  • 주영훈 (군산대학교 제어로봇공학과)
  • Received : 2011.08.02
  • Accepted : 2012.03.07
  • Published : 2012.04.25
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Abstract

This paper deals with a safe climbing path planning for unmanned automatic vehicles. Unlike the existing path planning schemes, the safety is the highest priority for our approach. To achieve this, the global potential field which includes a dangerous zone as well a given terrain information is generated, and the way-points are determined by using image processing such as the erosion operation. The proposed method can reduce the computation effort and the amount of information, and provide the safe climbing path which is similar to human's intuition.

본 논문은 무인 자율 주행 차량을 위한 안전한 등반 경로 계획을 다룬다. 기존의 경로 계획 기법과 달리, 안전성을 최우선 과제로 경로를 계획한다. 이를 위해 주어진 지형 정보로부터 위험 지역을 포함하는 전역 포텐셜 필드를 사용함으로써 위험 지역으로의 접근을 방지하고, 침식 연산을 이용한 중간 경유 지점 선정을 통해 가장 완만한 경사로를 계획하는 방법을 제안하다. 제안하는 방법은 요구되는 정보량 및 연산량을 줄일 수 있으며 인간의 직관과 유사한 등반 경로를 제공한다.

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References

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