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장애물의 위험도를 반영한 차량의 장애물 회피 경로생성 알고리즘

Title
장애물의 위험도를 반영한 차량의 장애물 회피 경로생성 알고리즘
Other Titles
Path Planning Algorithm for Grounded Vehicle Considering Risk of Obstacles
Author
허건수
Keywords
Path Planning; Collision Avoidance; Support Vector Machine; Risk level of Obstacle; Classification; Bezier Curve; 경로 계획; 충돌 회피; 서포트 벡터 머신; 장애물의 위험도; 분류; 베지에 곡선
Issue Date
2015-11
Publisher
한국자동차공학회
Citation
2015년 한국자동차공학회 학술대회 및 전시회, 2015.11, Page. 326-328
Abstract
This paper proposes path planning algorithm for avoiding obstacles. The proposed algorithm classifies risk level of each obstacle and weight of the obstacle is determined based on the risk level. Path is generated using the weights of obstacles and basic principle of support vector machine (SVM). This method is able to enhance not only safety of autonomous vehicle driving but also correspondence of path planning in various scenarios. Proposed algorithm was simulated by MATLAB/Simulink, Carsim and Prescan was used to compose the simulation environment
URI
http://www.ksae.org/search/index.html?subid=7&no=26313&vol=2http://www.dbpia.co.kr/Journal/ArticleDetail/NODE07124431http://hdl.handle.net/20.500.11754/28741
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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