Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Path Planning for Autonomous Navigation of a Driverless Ground Vehicle Based on Waypoints

무인운전차량의 자율주행을 위한 경로점 기반 경로계획

  • Song, Gwang-Yul (Department of Industrial Engineering, Chonnam National University) ;
  • Lee, Joon-Woong (Department of Industrial Engineering, Chonnam National University)
  • 송광열 (전남대학교 산업공학과) ;
  • 이준웅 (전남대학교 산업공학과)
  • Received : 2013.08.21
  • Accepted : 2013.12.26
  • Published : 2014.02.01
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Abstract

This paper addresses an algorithm of path planning for autonomous driving of a ground vehicle in waypoint navigation. The proposed algorithm is flexible in utilization under a large GPS positioning error and generates collision-free multiple paths while pursuing minimum traveling time. An optimal path reduces inefficient steering by minimizing lateral changes in generated waypoints along a path. Simulation results compare the proposed algorithm with the A* algorithm by manipulation of the steering wheel and traveling time, and show that the proposed algorithm realizes real-time obstacle avoidance by quick processing of path generation, and minimum time traveling by producing paths with small lateral changes while overcoming the very irregular positioning error from the GPS.

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