• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.2
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• pp.187-191
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• 2012

This paper deals with a safe climbing path planning for unmanned automatic vehicles. Unlike the existing path planning schemes, the safety is the highest priority for our approach. To achieve this, the global potential field which includes a dangerous zone as well a given terrain information is generated, and the way-points are determined by using image processing such as the erosion operation. The proposed method can reduce the computation effort and the amount of information, and provide the safe climbing path which is similar to human's intuition.