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

  • 제26권1호
  • /
  • Pages.31-43
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  • 2023
  • /
  • 1598-9127(pISSN)
  • /
  • 2636-0640(eISSN)
한국군사과학기술학회 (The Korea Institute of Military Science and Technology)
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공개데이터 도로구간 정보를 활용한 무인지상차량의 전역경로 생성 방법

A Method for Creating Global Routes for Unmanned Ground Vehicles Using Open Data Road Section Data

  • 윤승재 (충남대학교 메카트로닉스공학과) ;
  • 원문철 (충남대학교 메카트로닉스공학과)
  • Seungjae Yun (Department of Mechatronics Engineering Engineering, Chungnam National University) ;
  • Munchul Won (Department of Mechatronics Engineering Engineering, Chungnam National University)
  • 투고 : 2022.10.31
  • 심사 : 2023.01.31
  • 발행 : 2023.02.05
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초록

In this paper, we propose a method for generating a global path for an unmanned vehicle using public data of road section information. First, the method of analyzing road section information of the Ministry of Land, Infrastructure and Transport is presented. Second, we propose a method of preprocessing the acquired road section information and processing it into meaningful data that can be used for global routes. Third, we present a method for generating a global path using the preprocessed road section information. The proposed method has proven its effectiveness through actual autonomous driving experiments of unmanned ground vehicles.

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참고문헌

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