차량 동역학을 고려한 무인 주행 차량의 경로 추종 및 장애물 회피 혼합 기법 개발
- Title
- 차량 동역학을 고려한 무인 주행 차량의 경로 추종 및 장애물 회피 혼합 기법 개발
- Other Titles
- Development of the Integrated Method of Path Tracking and Obstacle Avoidance for Unmanned Ground Vehicle with Vehicle Dynamics
- Author
- 한창수
- Keywords
- Autonomous navigation(자율 주행); Bicycle model(자전거 모델); Path tracking(경로 추종); Obstacle avoidance(장애물 회피)
- Issue Date
- 2009-11
- Publisher
- 한국자동차공학회
- Citation
- 2009년 학술대회 및 전시회, Page. 1008-1013
- Abstract
- This paper presents a novel method that integrates the path tracking and the obstacle avoidance for UGV(Unmanned Ground Vehicle). Generally, for a safety and an ease control, UGV is used to runs slowly during the autonomous navigation. But if we want to run UGV fast, the vehicle dynamics should be considered. In this research, by using the bicycle model for the vehicle, the integrated method is applied to that model. For waypoints navigation, the pure pursuit path tracking is used. And this method is integrated with the obstacle avoidance method. The integrated method uses the obstacle potential that keeps UGV away from the obstacles while it follows the waypoints. The proposed method is tested on the simulation with several waypoints and obstacles showing that UGV is able to follow the path with obstacles.
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE01505337https://repository.hanyang.ac.kr/handle/20.500.11754/104171
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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