Title :
Path planning of unmanned vehicle using potential field and lane detection
Author :
Baek, Jun Young ; Kim, Sung Hyun ; Lee, Min Cheol
Author_Institution :
Dept. of Mech. Eng., Pusan Nat. Univ., Busan, South Korea
Abstract :
This paper presents a path planning algorithm which integrates the potential field method and lane detection for a UGV (Unmanned Ground Vehicle) in an urban environment. This algorithm can be used in situations, such as; erased lane markings on an urban road; an error of lane detection and DGPS data. This is because it integrates a run lane detection algorithm and potential field method. The driving algorithm for path planning is decided after visually checking for the existence of a lane.
Keywords :
mobile robots; path planning; remotely operated vehicles; road vehicles; DGPS data; UGV; lane detection; path planning; potential field; unmanned ground vehicle; unmanned vehicle; urban road; Force; Global Positioning System; Path planning; Roads; Robot kinematics; lane detection; path planning; potntial field; unmanned ground vehicle;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
