Browse > Article
http://dx.doi.org/10.9766/KIMST.2014.17.6.711

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

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)
Publication Information
Journal of the Korea Institute of Military Science and Technology / v.17, no.6, 2014 , pp. 711-717 More about this Journal
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
Unmanned Ground Vehicle; Autonomous Navigation; Global Path Planning;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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.   DOI   ScienceOn
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.   DOI   ScienceOn
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.   DOI