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

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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Local Path Planning Manager for Autonomous Navigation of UGV

무인차량의 자율주행을 위한 지역경로계획 매니저

  • Received : 2010.07.23
  • Accepted : 2010.11.19
  • Published : 2010.12.05
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Abstract

The Mission environment of UGV(Unmanned Ground Vehicle) has a complexity and variety, and the status of system and sensor is dependent on the environment factors such as operation time, the weather and road type. It is necessary for UGV to cope adaptively with the various mission types, operation modes and operation environment as human operators do. To satisfy this necessity, we present an autonomy manager based on the autonomous architecture. In this paper, we design a path planning software architecture and LPP manager by using open autonomous architecture which is previously designed by ADD. Field test is conducted with UGV in order to verify the performance of LPP Manager based on the Autonomous Architecture with scenarios.

Keywords

References

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