디지털지형정보 기반의 실시간 자율주행 격자지도 생성 연구 = Realtime Generation of Grid Map for Autonomous Navigation Using the Digitalized Geographic Information

다국어 초록 (Multilingual Abstract)

In this paper, a method of generating path planning map is developed using digitalized geographic information such as FDB(Feature DataBase). FDB is widely used by the Army and needs to be applied to all weapon systems of newly developed. For the autonomous navigation of a robot, it is necessary to generate a path planning map by which a global path can be optimized. First, data included in FDB is analyzed in order to identify meaningful layers and attributes of which information can be used to generate the path planning map. Then for each of meaningful layers identified, a set of values of attributes in the layer is converted into the traverse cost using a matching table in which any combination of attribute values are matched into the corresponding traverse cost. For a certain region that is gridded, i.e., represented by a grid map, the traverse cost is extracted in a automatic manner for each gird of the region to generate the path planning map. Since multiple layers may be included in a single grid, an algorithm is developed to fusion several traverse costs. The proposed method is tested using a experimental program. Test results show that it can be a viable tool for generating the path planning map in real-time. The method can be used to generate other kinds of path planning maps using the digitalized geographic information as well.

참고문헌 (Reference)

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2 이호주, "임무유형과 다중 격자지도 기반의 임무지향적 전역경로 생성 연구" 한국군사과학기술학회 13 (13): 180-187, 2010

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