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모델예측방법을 이용한 무인주행자동차의 실시간 경로탐색 및 충돌회피 알고리즘
송석기(Seokki Song),이중범(Joongbum Lee),공경철(Kyoungchul Kong) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
A real-time position control algorithm of an unmanned vehicle is introduced in this paper. The proposed algorithm is capable of collision avoidance, as well as determination of an optimal path to reach a destination. Conventional path planning algorithms (e.g., A-star algorithm) shows limitations, such as long calculation time and its off-line characteristics. On the other hand, the proposed algorithm determines the optimal direction considering both the destination and obstacles simultaneously in real-time. Once the optimal direction is determined, the proposed method calculates the steering angle and the vehicle speed for the control of driving and steering actuators. In this paper, the proposed methods are verified by simulation results.