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http://dx.doi.org/10.5302/J.ICROS.2012.18.7.664

Temporal Waypoint Revision Method to Solve Path Mismatch Problem of Hierarchical Integrated Path Planning for Mobile Vehicle  

Lee, Joon-Woo (Korea Advanced Institute of Science and Technology (KAIST))
Seok, Joon-Hong (Korea Advanced Institute of Science and Technology (KAIST))
Ha, Jung-Su (Korea Advanced Institute of Science and Technology (KAIST))
Lee, Ju-Jang (Korea Advanced Institute of Science and Technology (KAIST))
Lee, Ho-Joo (Agency for Defense Development (ADD))
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.7, 2012 , pp. 664-668 More about this Journal
Abstract
Hierarchical IPP (Integrated Path Planning) combining the GPP (Global Path Planner) and the LPP (Local Path Planner) is interesting the researches who study about the mobile vehicle in recent years. However, in this study, there is the path mismatch problem caused by the difference in the map information available to both path planners. If ever a part of the path that was found by the GPP is available to mobile vehicle, the part may be unavailable when the mobile vehicle generates the local path with its built-in sensors while the vehicle moves. This paper proposed the TWR (Temporal Waypoint Reviser) to solve the path mismatch problem of the hierarchical IPP. The results of simulation provide the performance of the IPP with the TWR by comparing with other path planners.
Keywords
TWR (Temporal Waypoint Reviser); IPP (Integrated Path Planning); GPP (Global Path Planning); LPP (Local Path Planning); path planning;
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Times Cited By KSCI : 3  (Citation Analysis)
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