| Local Path Planning Manager for Autonomous Navigation of UGV |
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Young-Il Lee, Ho-Joo Lee, Yong-Woon Park |
| 무인차량의 자율주행을 위한 지역경로계획 매니저 |
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이영일, 이호주, 박용운 |
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국방과학연구소 |
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| Abstract |
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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. |
| Key Words:
Autonomous Navigation, LPP(Local Path Planning), Autonomy Manager, LPP Manager, Autonomous Architecture |
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