동적 장애물이 고려된 맵 기반의 충돌 회피 제어

Abstract

This paper proposes collision avoidance control method based on obstacle map considering both static and dynamic obstacles. For representing environment around host vehicle, artificial potential field concept is used. This approach allows the vehicle to navigate naturally with obstacles when global goal is given. Prescan was used for obtaining measurement data with sensor model considered. The proposed algorithm was evaluated by MATLAB/Simulink and CarSim.