DocumentCode
529230
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
fYear
2010
fDate
18-21 Aug. 2010
Firstpage
1339
Lastpage
1342
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;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference 2010, Proceedings of
Conference_Location
Taipei
Print_ISBN
978-1-4244-7642-8
Type
conf
Filename
5602438
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