Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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The Generation of Directional Velocity Grid Map for Traversability Analysis of Unmanned Ground Vehicle

무인차량의 주행성분석을 위한 방향별 속도지도 생성

  • Published : 2009.10.05
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Abstract

One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.

Keywords

References

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