무인차량의 주행성분석을 위한 방향별 속도지도 생성 = The Generation of Directional Velocity Grid Map for Traversability Analysis of Unmanned Ground Vehicle

다국어 초록 (Multilingual Abstract)

One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.

참고문헌 (Reference)

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