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

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
권호 표지
DOI QR코드

DOI QR Code

A Method to Determine the Weights for Mission Type based Global Path Planning

임무유형 기반 전역경로계획을 위한 가중치 결정방법

  • Park, Won-Ik (The 5th Research and Development Institute, Agency for Defense Development) ;
  • Lee, Ho-Joo (The 5th Research and Development Institute, Agency for Defense Development) ;
  • Kim, Do-Jong (The 5th Research and Development Institute, Agency for Defense Development)
  • 박원익 (국방과학연구소 제5기술연구본부) ;
  • 이호주 (국방과학연구소 제5기술연구본부) ;
  • 김도종 (국방과학연구소 제5기술연구본부)
  • Received : 2014.01.10
  • Accepted : 2014.10.17
  • Published : 2014.12.05
Download PDF
⟨ Previous Next ⟩

Abstract

Global path planning for autonomous driving of unmanned ground vehicle is essential. When setting global path planning, its accuracy and effectiveness is increased if useful information such as terrain type of driving route has been reflected on global path planning. As a method to reflect the terrain type, there is a method to perform global path planning by applying the weight to each terrain type. At this time, how to assign appropriate weights corresponding to the terrain type is more important than anything. In this paper, we proposed a method to determine the weight for terrain type that may affect the results of global path planning. Moreover, we presented effective operation method and design results(GUI) to check the possibility of the use of the proposed method.

Keywords

References

  1. P. Hart, N. Nilsson, and B. Raphael, "A Formal Basis for the Heuristic Determination of Minimum Cost Paths," IEEE Trans. Syst. Sci. Cybern., Vol. 4, No. 2, pp. 100-107, Jul. 1968. https://doi.org/10.1109/TSSC.1968.300136
  2. S. KoenigandM. Likhachev, "D* Lite," in Proc. 18th Nat. Conf. Artif. Intell., Menlo Park, CA, pp. 476-483, 2002.
  3. D. Ferguson and A. T. Stentz, "The Field D* Algorithm for Improved Path Planning and Replanning in Uniform and Non-Uniform Cost Environments," Robot. Inst., Pittsburgh, PA, Tech. Rep. CMU-RI-TR-05-19, Jul. 2005.
  4. E. W. Dijkstra, "A Note on Two Problems in Connexion with Graphs," Numer. Math., Vol. 1, pp. 269-271, 1959. https://doi.org/10.1007/BF01386390
  5. Won-Ik Park, Do-Jong Kim, and Ho-Joo Lee, "Terrain Trafficability Analysis for Autonomous Navigation: A GIS-based Approach," International Journal of Control, Automation, and Systems 11(2), pp. 354-361, 2013. https://doi.org/10.1007/s12555-011-0021-x