다차원 경로격자지도를 이용한 주차 경로계획 알고리즘
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 최종안 | - |
dc.contributor.author | 송재복 | - |
dc.date.accessioned | 2021-09-03T12:58:05Z | - |
dc.date.available | 2021-09-03T12:58:05Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2017 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/85712 | - |
dc.description.abstract | Recent studies on automatic parking have actively adopted the technology developed for mobile robots. Among them, the path planning scheme plans a route for a vehicle to reach a target parking position while satisfying the kinematic constraints of the vehicle. However, previous methods require a large amount of computation and/or cannot be easily applied to different environmental conditions. Therefore, there is a need for a path planning scheme that is fast, efficient, and versatile. In this study, we use a multi-dimensional path grid map to solve the above problem. This multi-dimensional path grid map contains a route which has taken a vehicle's kinematic constraints into account; it can be used with the A* algorithm to plan an efficient path. The proposed method was verified using Prescan which is a simulation program based on MATLAB. It is shown that the proposed scheme can successfully be applied to both parallel and vertical parking in an efficient manner. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.publisher | 한국로봇학회 | - |
dc.title | 다차원 경로격자지도를 이용한 주차 경로계획 알고리즘 | - |
dc.title.alternative | Path Planning for Parking using Multi-dimensional Path Grid Map | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 송재복 | - |
dc.identifier.bibliographicCitation | 로봇학회 논문지, v.12, no.2, pp.152 - 160 | - |
dc.relation.isPartOf | 로봇학회 논문지 | - |
dc.citation.title | 로봇학회 논문지 | - |
dc.citation.volume | 12 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 152 | - |
dc.citation.endPage | 160 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART002226510 | - |
dc.description.journalClass | 2 | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | Path planning | - |
dc.subject.keywordAuthor | Autonomous parking | - |
dc.subject.keywordAuthor | A* algorithm | - |
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