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J. KIMS Technol > Volume 17(6); 2014 > Article
Journal of the Korea Institute of Military Science and Technology 2014;17(6):711-717.
DOI: https://doi.org/10.9766/KIMST.2014.17.6.711   
A Method to Determine the Weights for Mission Type based Global Path Planning
Won-Ik Park, Ho-Joo Lee, Do-Jong Kim
The 5th Research and Development Institute, Agency for Defense Development
임무유형 기반 전역경로계획을 위한 가중치 결정방법
박원익, 이호주, 김도종
국방과학연구소 제5기술연구본부
Abstract
Global path planning for autonomous driving of unmanned ground vehicle is essential. When setting global path planning, its accuracy and effectiveness is increased if useful information such as terrain type of driving route has been reflected on global path planning. As a method to reflect the terrain type, there is a method to perform global path planning by applying the weight to each terrain type. At this time, how to assign appropriate weights corresponding to the terrain type is more important than anything. In this paper, we proposed a method to determine the weight for terrain type that may affect the results of global path planning. Moreover, we presented effective operation method and design results(GUI) to check the possibility of the use of the proposed method.
Key Words: Unmanned Ground Vehicle, Autonomous Navigation, Global Path Planning
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