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- 저자 : 김윤섭(Yoonsub Kim) (검색결과 1 건)
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조성욱(Sungwook Jo),임경일(kyungil Lim),김윤섭(Yoonsub Kim),김정하(Jungha Kim) 한국자동차공학회 2015 한국자동차공학회 부문종합 학술대회 Vol.2015 No.5
There are many problems that generating path to traking UGV(Unmanned Ground Vehicle) in the real time in addition, most of path generation algorithm dose not take into account the kinematic characteristics of the vehicle. It is essential that path generation based to Scenario according to tracking situation. in this paper, we proposed that recognition of preceding vehicle and available overtaking path generation and path planning in restricted environment(ex. Highway). we used to LiDAR sensors, creates a path to overtake the preceding vehicle by update of obstacle in the global map based on grid. In consideration of the minimum distance(d1) can overtaking the preceding vehicle according to the entrance speed of the vehicle. minimum distance(d1) was used determined to start node. path planning is determined to judgment of overtaking about avoidance path generation, traking of front vehicle. we applied to TLPA<SUP>*</SUP> algorithm, generates overtaking path. TLPA<SUP>*</SUP> algorithm was defined by Suboptimality bound throught restrict to(∈) re-search area. using a TLPA<SUP>*</SUP> algorithm was more faster existing path generation algorithm therefore, using to LiDAR sensors, traking a front vehicle and updates position of current vehicle and obstacle and overtaking path in global map. finally, we proposed that fast and safety generating path of overtaking and path planning.
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