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
- 2012.10
- 수록면
- 992 - 997 (6page)
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초록· 키워드
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In this research is began with an attempt to operate the Unmanned Ground Vehicle(UGV) in unknown environments. We present a heuristic-based path planning algorithm for generating smooth and optimal paths. UGV operating in outdoor environments must deal with new objects during traversal. Path planning in occupied area must be incremental to accommodate new information and must use efficient representations. But geneal grid-based representation is dealing with a lagre amount of information about obstacles and free space. And the system performance is slow as a result. Hence we propose the use of quadtree to improve computation speed and memory requirements. Also the path planner needs to generate paths intended to be phsically realizable by vehicles with constrained dynamics. So we use a simple model of vehicle dynamics to search on a multi resolution.
목차
Abstract
1. INTRODUCTION
2. MOTIVATION
3. ALGORITHM
4. EXPERIMENT
4. EXPERIMENT
6. FUTURE WORK
REFERENCES
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