무인지상차량의 전역경로계획을 위한 지형정보 분석 시스템 = A Terrain Analysis System for Global Path Planning of Unmanned Ground Vehicle

다국어 초록 (Multilingual Abstract)

In this paper, we proposed a system that efficiently provides support maps which includes the grid based terrain analysis information. To do this, we use the FDB which is defined as a GIS database that contains features with attributes attached to the features. The FDB is composed of a number of features and feature classes. In order to create support maps, it is necessary to classify feature classes that are associated with each support map and to search them in a grid map. The proposed system use a ontology model to classify semantically feature classes and the quad-tree data structure to find them in a grid map quickly. Therefore, our system is expected to be utilized for global path planning of UGV. In this paper, we show the possibility through an experimental implementation.

참고문헌 (Reference)

1 Kramer, T. A, 7 : 2006

2 박원익, "온톨로지를 활용한 FDB 기반 지형정보 모델 구축" 510-511, 2012

3 이호주, "디지털지형정보 기반의 실시간 자율주행 격자지도 생성 연구" 한국군사과학기술학회 14 (14): 539-547, 2011

4 이호주, "Terrain Trafficability Analysis for Autonomous Navigation: A GIS-based Approach" 제어·로봇·시스템학회 11 (11): 354-361, 2013

5 박원익, "Quad-tree를 활용한 FDB 기반 속도비용 추출 기법" 439-441, 2012

6 "Nantional Imagery and Mapping Agency Profile of the Dgital Geographic Information Exchange Standard (DIGEST), Geospatial Intelligence Capstone Document, NIMA USA"

7 "JESS"

8 이호주, "FDB 기반의 경로계획용 속도맵 생성" 1972-1975, 2009