19권 4호 8-15 2011 [한국자동차공학회 논문집 ]
| 제목 | 포텐셜 필드 기법을 이용한 무인차량의 자율항법 개발 |
|---|---|
| 분야 | ITS/차량 소프트웨어 |
| 언어 | Korean |
| 저자 | 이상원(부산대학교), 김성현(부산정보대학), 문영근(부산대학교), 이민철(부산대학교) |
| Key Words | Unmmand vehicle(무인자동차), Differential Global Positioning System(DGPS, 보정위성항법장치),Obstacle avoidance(장애물 회피), Laser range finder(레이저레인지파인더), Digital compass(전자나침반), Potential field(포텐셜 필 |
| 초록 |
This paper proposes a real-time navigation algorithm which integrates the artificial potential field (APF) for an unmanned vehicle in the unknown environment. This approach uses repulsive potential function around the obstacles to force the vehicle away and an attractive potential function around the goal to attract the vehicle. In this research, laser range finder is used as range sensor. An obstacle detected by the sensor creates repulsive vector. Differential global positioning system (DGPS) and digital compass are used to measure the current vehicle position and orientation. The measured vehicle position is also used to create attractive vector. This paper proposes a new concept of potential field based navigation which controls unmanned vehicle's speed and steering. The magnitude of repulsive force based on the proposed algorithm is designed not to be over the magnitude of attractive force while the magnitude is increased linearly as being closer to obstacle. Consequently, the vehicle experiences a generalized force toward the negative gradient of the total potential. This force drives the vehicle downhill towards its goal configuration until the vehicle reaches minimum potential and it stops. The effectiveness of the proposed APF for unmanned vehicle is verified through simulation and experiment. |
| 원문(PDF) | 다운로드 |