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

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
권호 표지
DOI QR코드

DOI QR Code

Modified $A^*$ - Local Path Planning Method using Directional Velocity Grid Map for Unmanned Ground Vehicle

Modified $A^*$ - 방향별 속도지도를 활용한 무인차량의 지역경로계획

  • Received : 2011.02.28
  • Accepted : 2011.05.13
  • Published : 2011.06.05
Download PDF
⟨ Previous Next ⟩

Abstract

It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm.

Keywords

References

  1. Elfes, A., "Using Occupancy Grids for Mobile Robot Perception and Navigation", IEEE Computer Magazine, 1989.
  2. H. Seraji and B. Bon, "Multi-range Traversability Indices for Terrain-Based Navigation", Proc. of the 2002 IEEE Int. Conf. on Robotics and Automation, pp. 2674-2681, 2002.
  3. H. Seraji and A. Howard, E. Tunstel, "Safe Navigation on Hazardous Terrain", Proc. of the 2001 IEEE Int. Conf. on Robotics and Automation, pp. 3084-3091, 2001.
  4. A. Howard, H. Seraji and E. Tunstel, "A Rule-based Fuzzy Traversability Index for Mobile Robot Navigation", Proc. of the 2001 IEEE Int. Conf. on Robotics and Automation, 2001.
  5. Ye, C., & Borenstein, J., "T-transformation: Traversability Analysis for Navigation on Rugged Terrain", the Defense and Security Symposium, 2004.
  6. 이영일, 이호주, 지태영, "무인차량의 주행성분석을 위한 방향별 속도지도 생성", 한국군사과학기술학회지, Vol. 12, No. 5, pp. 549-556, Oct., 2009.
  7. Robin R. Murphy, Introduction to AI Robotics, A Bradford Book, The MIT Press, 2000.
  8. N. Yokoya and K. Yamamoto, "Fractal-Based Analysis and Interpolation of 3D Natural Surfaces and Their Application to Terrain Modeling", Computer Vision, Graphic, and Image Processing, Vol. 46, pp. 284-302, 1989. https://doi.org/10.1016/0734-189X(89)90034-0
  9. D. Langer, J. K. Rosenblatt and M. Hebert, "A Behavior-Based System for Off-Road Navigation", IEEE Trans. Robotics and Automation, Vol. 10, No. 6, pp. 776-783, 1994. https://doi.org/10.1109/70.338532
  10. H. Seraji, "Traversability Index : A New Concept for Planetary Robers", Proc. of the 1999 IEEE Int. Conf. on Robotics and Automation, pp. 2006-2013, 1999.
  11. L. Huajun, Y. Jingyu and Z. Chunxia, "A Generic Approach to Rugged Terrain Analysis Based on Fuzzy Inference", Proc. of the 8th Int. Conf. on Control, Automation, Robotics and Vision, pp. 1108 -1113, 2004.
  12. M Castelnovi, R. C. Arkin and T. R. Collins, "Reactive Speed Control System Based on Terrain Roughness Detection", http://smartech.gatech.edu/ handle/1853/20784
  13. 이영일, 정 희, 김용기, "무인수중로봇을 위한 지능형 자율운항시스템", 정보과학회논문지, Vol. 34,No. 3, March, 2007.