지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 885 - 890 (6page)
이용수
초록· 키워드
오류제보하기
This paper focuses on development of path planning for an Unmanned Ground Vehicle (UGV) during the parking behavior operation in an urban area. The proposed method developed in this paper is the Rapidly-exploring Random Tree (RRT) to search for a collision-free trajectory in an environment with moving and static obstacles. The collision avoidance is based on a geometric search in the transformed vehicle’s space. The line segments of the collision free path that is derived from the proposed method is interpolated to yield a smooth and short path. In order to test the strategy a C/C++ simulator incorporating an openGL visualizer was developed. The test vehicle is the Toyota Highlander hybrid vehicle which was developed for the 2007 DARPA Urban Challenge.
목차
Abtract
1. INTRODUCTION
2. MODELS FOR PATH PLANNING
3. PARKING WITH RRT
4. SMOOTH PATH
5. EXPERIMENTAL RESULTS
6. CONCLUSION/FUTURE WORKS
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000913776