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- W2010136178 abstract "본 연구는 무인 차량의 도로에서의 자율주행을 위한 경유점을 지정하는 방법에 관한 것이다. 무인 차량이 현재 위치와 목표 위치의 전역 좌표를 알고 주어진 도로 지도 상에서 경로 계획을 한다면 어떤 도로의 어떤 차선을 거쳐 가야 하는지 미리 계획하여야 한다. 또한 이를 위해서는 도로의 위치 정보가 미리 체계적으로 저장되어 데이터베이스화 되어 있어야 한다. 본 논문에서는 도로를 데이터베이스로 저장하는 방법과 그 데이터베이스를 이용하여 최단거리 경로를 계획하고 이동방향과 차선을 고려하여 차량이 지나가야 할 상세한 경유점을 생성한다. 이후 시뮬레이션을 통해 제안한 알고리즘으로 도로에 최적화된 경로를 찾을 수 있음을 검증하였다. This research deals with generating via points for autonomous navigation on a roadway for unmanned vehicles. When a vehicle plans a path from a starting point to a goal point, it should be able to map out which lane on which road it passes by. For this purpose, we should organize positional information of roads and save it as a database. This paper presents methods to save the database and to plan a shortest path to the goal by generating via points in consideration of the moving direction and the lane directions. Then we prove that the proposed algorithm can find the optimal path on the road through simulations." @default.
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- W2010136178 date "2012-04-25" @default.
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- W2010136178 title "A Via Point Generation Method for Road Navigation of Unmanned Vehicles" @default.
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- W2010136178 doi "https://doi.org/10.5391/jkiis.2012.22.2.161" @default.
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