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http://dx.doi.org/10.9766/KIMST.2017.20.6.803

Genetic Algorithm Based 3D Environment Local Path Planning for Autonomous Driving of Unmanned Vehicles in Rough Terrain  

Yun, SeungJae (Department of Mechatronics Engineering, Chungnam National University)
Won, Mooncheol (Department of Mechatronics Engineering, Chungnam National University)
Publication Information
Journal of the Korea Institute of Military Science and Technology / v.20, no.6, 2017 , pp. 803-812 More about this Journal
Abstract
This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.
Keywords
Local Path Planning; Genetic Algorithm; Autonomous Driving; Rough Terrain; Unmanned Ground Vehicle;
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