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로봇형 차량의 자율주행을 위한 센서 기반 운동 계획법 개발Development of Sensor-based Motion Planning Method for an Autonomous Navigation of Robotic Vehicles

Other Titles
Development of Sensor-based Motion Planning Method for an Autonomous Navigation of Robotic Vehicles
Authors
김동형김창준이지영한창수
Issue Date
Jun-2011
Publisher
제어·로봇·시스템학회
Keywords
Autonomous navigation; Motion planning; Robotic vehicle; Unmanned ground vehicle
Citation
Journal of Institute of Control, Robotics and Systems, v.17, no.6, pp 513 - 520
Pages
8
Indexed
SCOPUS
KCI
Journal Title
Journal of Institute of Control, Robotics and Systems
Volume
17
Number
6
Start Page
513
End Page
520
URI
https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/38927
DOI
10.5302/J.ICROS.2011.17.6.513
ISSN
1976-5622
Abstract
This paper presents the motion planning of robotic vehicles for the path tracking and the obstacle avoidance. To follow the given path, the vehicle moves through the turning radius obtained through the pure pursuit method, which is a geometric path tracking method. In this paper, we assume that the vehicle is equipped with a 2D laser scanner, allowing it to avoid obstacles within its sensing range. The turning radius for avoiding the obstacle, which is inversely proportional to the virtual force, is then calculated. Therefore, these two kinds of the turning radius are used to generate the steering angle for the front wheel of the vehicle. And the vehicle reduces the velocity when it meets the obstacle or the large steering angle using the potentials of obstacle points and the steering angle. Thus the motion planning of the vehicle is done by planning the steering angle for the front wheels and the velocity. Finally, the performance of the proposed method is tested through simulation.
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Lee, Ji Yeong
ERICA 공학대학 (DEPARTMENT OF ROBOT ENGINEERING)
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