The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
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Cellular Parallel Processing Networks-based Dynamic Programming Design and Fast Road Boundary Detection for Autonomous Vehicle

셀룰라 병렬처리 회로망에 의한 동적계획법 설계와 자율주행 자동차를 위한 도로 윤곽 검출

  • 홍승완 (전북대 공대 제어계측공학과) ;
  • 김형석 (전북대 공대 전자정보공학부)
  • Published : 2004.07.01
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Abstract

Analog CPPN-based optimal road boundary detection algorithm for autonomous vehicle is proposed. The CPPN is a massively connected analog parallel array processor. In the paper, the dynamic programming which is an efficient algorithm to find the optimal path is implemented with the CPPN algorithm. If the image of road-boundary information is utilized as an inter-cell distance, and goals and start lines are positioned at the top and the bottom of the image, respectively, the optimal path finding algorithm can be exploited for optimal road boundary detection. By virtue of the parallel and analog processing of the CPPN and the optimal solution of the dynamic programming, the proposed road boundary detection algorithm is expected to have very high speed and robust processing if it is implemented into circuits. The proposed road boundary algorithm is described and simulation results are reported.

Keywords

References

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