| Modified $A^*$ - Local Path Planning Method using Directional Velocity Grid Map for Unmanned Ground Vehicle |
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Young-Il Lee, Ho-Joo Lee, Yong-Woon Park |
| Modified $A^*$ - 방향별 속도지도를 활용한 무인차량의 지역경로계획 |
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이영일, 이호주, 박용운 |
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국방과학연구소 |
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| Abstract |
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It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm. |
| Key Words:
LPP(Local Path Plan), $MA^*$(Modified $A^*$), DVGM(Directional Velocity Grid Map), Autonomous Navigation, UGV(Unmanned Ground Vehicle) |
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