Local Path Planning Method based on Autonomy Manager for Autonomous Navigation in Urban Environment

Lee, Young-Il; Ahn, Seong-Yong; Kim, Chong-Hui

doi:2013.16.6.719

J. KIMS Technol > Volume 16(6); 2013 > Article

Journal of the Korea Institute of Military Science and Technology 2013;16(6):719-725.
DOI: https://doi.org/10.9766/KIMST.2013.16.6.719

Local Path Planning Method based on Autonomy Manager for Autonomous Navigation in Urban Environment

Young-Il Lee, Seong-Yong Ahn, Chong-Hui Kim

도심환경 자율주행을 위한 자율매니저 기반 경로계획 기법

이영일, 안성용, 김종희

국방과학연구소

Abstract

In this paper, we propose a local path planning method based on RANGER algorithm and autonomy manager for autonomous navigation of UGV in urban environment. LPP method is designed to generate the local path in sensing area by using lane and curb of pavement and autonomy manager is designed to make a decision which transit the status of LPP component to a proper status for current navigation environment. A field test is conducted with scenarios in real urban environment in which crossroad, crosswalk and pavement are included and the performance of proposed method is validated.

Key Words: LPP(Local Path Plan), RANGER(Real-time Autonomous Navigator with a Geometric Engine), Autonomy Manager, Autonomous Navigation, UGV