Journal of Power System Engineering (동력기계공학회지)

The Korean Society for Power System Engineering (한국동력기계공학회)
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Researches on Collision Avoidance Algorithms for Autonomous Driving System

자율주행 시스템의 장애물 회피 알고리즘에 관한 연구

  • 안두성 (부경대학교 기계자동차공학과) ;
  • 박근현 (부경대학교 대학원) ;
  • 최규종 ((주)에스피시스템스) ;
  • 전순용 ((주)대원전자 기술연구소)
  • Received : 2011.03.22
  • Accepted : 2011.10.12
  • Published : 2012.02.29
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Abstract

In unmanned vehicles' navigation, the shapes of obstacles are generally irregular and complex. The motion of vehicles based on the range sensor system such as ultrasonic sensors or laser sensors can be unstable due to the irregular shape of the obstacles. In this case, to generate stable trajectory of unmanned vehicles equipped with range sensors, we need an approach that can simplify an obstacle's irregular shape information. In this paper, we propose the trajectory generation algorithm that an vehicle can stably navigate in the environments where irregular shaped obstacles are scattered. The proposed method is verified through the analysis of vehicle's trail and direction data acquired by simulations and implementations.

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References

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