Experimental Verification of 1D Virtual Force Field Algorithm on Uneven and Dusty Environment

Choe, Tok Son; Joo, Sang-Hyun; Park, Yong-Woon; Park, Jin-Bae

doi:2017.20.5.647

J. KIMS Technol > Volume 20(5); 2017 > Article

Journal of the Korea Institute of Military Science and Technology 2017;20(5):647-653.
DOI: https://doi.org/10.9766/KIMST.2017.20.5.647

Experimental Verification of 1D Virtual Force Field Algorithm on Uneven and Dusty Environment

Tok Son Choe, Sang-Hyun Joo, Yong-Woon Park, Jin-Bae Park

¹The 5th Research and Development Institute, Agency for Defense Development
²Department of Electrical and Electronic Engineering, Yonsei University

비평지 및 먼지 환경에서 1차원 가상힘장 알고리즘의 실험적 검증

최덕선, 주상현, 박용운, 박진배

¹국방과학연구소 제5기술연구본부
²연세대학교 전기전자공학과

Abstract

In this paper, we deal with the experimental verification of 1D virtual force field algorithm based reflexive local path planning on uneven and dusty environment. The existing obstacle detection method on uneven and dusty environment and 1D virtual force field based reflexive local path planning algorithm simply are introduced. Although the 1D virtual force field algorithm is verified by various simulations, additional efforts are needed to verify this algorithm in the real-world. The introduced methods are combined with each other, installed to real mobile platforms and verified by various real experiments.

Key Words: 1D Virtual Force Field, Reflexive Local Path Planning, Uneven and Dusty Environment