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http://dx.doi.org/10.5391/JKIIS.2012.22.2.161

A Via Point Generation Method for Road Navigation of Unmanned Vehicles  

Choi, Hyuk-Doo (연세대학교 전기전자공학부)
Park, Nam-Hun (안양대학교 컴퓨터학과)
Kim, Jong-Hui (국방과학연구소)
Park, Yong-Woon (국방과학연구소)
Kim, Eun-Tai (연세대학교 전기전자공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.22, no.2, 2012 , pp. 161-167 More about this Journal
Abstract
This research deals with generating via points for autonomous navigation on a roadway for unmanned vehicles. When a vehicle plans a path from a starting point to a goal point, it should be able to map out which lane on which road it passes by. For this purpose, we should organize positional information of roads and save it as a database. This paper presents methods to save the database and to plan a shortest path to the goal by generating via points in consideration of the moving direction and the lane directions. Then we prove that the proposed algorithm can find the optimal path on the road through simulations.
Keywords
Path plan; Via points; Road database;
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