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A Local Path Planning Algorithm considering the Mobility of UGV based on the Binary Map  

Lee, Young-Il (ADD)
Lee, Ho-Joo (ADD)
Ko, Jung-Ho (ADD)
Publication Information
Journal of the Korea Institute of Military Science and Technology / v.13, no.2, 2010 , pp. 171-179 More about this Journal
Abstract
A fundamental technology of UGV(Unmanned Ground Vehicle) to perform a given mission with success in various environment is a path planning method which generates a safe and optimal path to the goal. In this paper, we suggest a local path-planning method of UGV based on the binary map using world model data which is gathered from terrain perception sensors. In specially, we present three core algorithms such as shortest path computation algorithm, path optimization algorithm and path smoothing algorithm those are used in the each composition module of LPP component. A simulation is conducted with M&S(Modeling & Simulation) system in order to verify the performance of each core algorithm and the performance of LPP component with scenarios.
Keywords
Autonomous Navigation; LPP(Local Path Planning); Path Optimization; Path Smoothing; Binary Map; UGV(Unmanned Ground Vehicle);
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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