| An Optimal Path Generation Method considering the Safe Maneuvering of UGV |
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Kyung-Woon Kwak, Hae-Kwan Jeong, Tok-Son Choe, Yong-Woon Park, Yoon-Keun Kwak, Soo-Hyun Kim |
1KAIST
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| 무인지상차량의 안전주행을 고려한 최적경로 생성 방법 |
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곽경운, 정해관, 최덕선, 박용운, 곽윤근, 김수현 |
1한국과학기술원
2연구개발인력교육원
3국방과학연구소 |
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| Abstract |
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An optimal path generation method considering the safety of UGV(Unmanned Ground Vehicle) is proposed and demonstrated through examples. Among various functions of UGV, real-time obstacle avoidance is a key issue to realize realistic scenario in FCS(Future Combat Systems). A two-dimensional narrow corridor environment is considered as a test field. For each step of UGV movement, two objectives are considered: One is to minimize the distance to the target and the other to maximize the distance to the nearest point of an obstacle. A weighted objective function is used in the optimization problem. Equality and inequality constraints are taken to secure the UGV's dynamics and safety. The weighting factors are controlled by a fuzzy controller which is constructed by a fuzzy rule set and membership functions. Simulations are performed for two cases. First the weighting factors are considered as constant values to understand the characteristics of the corresponding solutions and then as variables that are adjusted by the fuzzy controller. The results are satisfactory for realistic situations considered. The proposed optimal path generation with the fuzzy control is expected to be well applicable to real environment. |
| Key Words:
Optimal Path, Fuzzy Controller, Safety, Weighting Factor |
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