칼만 필터를 이용한 가상 웨이포인트 생성 및 곡선 적합

Abstract

In this paper, we present methods of the generation of virtual waypoints and the new curve fitting using kalman filter. The previous curve fitting method causes a bouncing phenomenon when a new waypoint appears as the vehicle moves. To solve this problem, Kalman filter using satatistical estimation is used with virtual waypoints. We validated that the presented algorithm outperforms the previous curve fitting method.