A Study on Moving Path Generation for Autonomous Vehicle

자율형 무인운반차를 위한 이동경로의 생성에 관한 연구

This paper describes a moving path generation method for the Autonomous vehicles (AV) to search for paths in an unknown environment by using fixed obstacle information. Algorithms for the AV which were recently proposed have some problems, so it was difficult to utilize these algorithms in the real world. The purpose of this research is to examine the applicability of real-time control and efficient improvement by reducing calculation iterations. In the network which is constructed by the cell-decomposition method, a gate is installed in each cell. By verifying the possibility of gate pass-over, the number of cells which should be considered to find the solution can be reduce. Therefore, algorithm iterations can be dramatically improved. In this paper we have proven that path-generated algorithms are efficient by using simulation.