| The Generation of Directional Velocity Grid Map for Traversability Analysis of Unmanned Ground Vehicle |
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Young-Il Lee, Ho-Joo Lee, Tae-Young Jee |
| 무인차량의 주행성분석을 위한 방향별 속도지도 생성 |
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이영일, 이호주, 지태영 |
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국방과학연구소 |
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| Abstract |
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One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system. |
| Key Words:
DVGM(Directional Velocity Grid Map), Traversability Analysis, Local Path-Planning, Fuzzy Inference, UGV(Unmanned Ground Vehicle) |
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