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THE APPARATUS AND METHOD FOR IMPROVING THE PERFORMANCE OF AUTONOMOUS NAVIGATION OF UNMANNED GROUND VEHICLE USING OBSTACLE GRID MAP
THE APPARATUS AND METHOD FOR IMPROVING THE PERFORMANCE OF AUTONOMOUS NAVIGATION OF UNMANNED GROUND VEHICLE USING OBSTACLE GRID MAP
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机译：利用障碍网格图提高无人地面车辆自主导航性能的装置和方法
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摘要
PURPOSE: An autonomous driving performance improving apparatus of an unmanned vehicle utilizing an obstacle grid map is provided to improve the autonomous driving performance of an unmanned vehicle by generating the local path avoiding zigzag driving reducing the autonomous driving performance of an unmanned vehicle. CONSTITUTION: An autonomous driving performance improving apparatus of an unmanned vehicle utilizing an obstacle grid map comprises a geographical feature detecting sensor unit(100), an obstacle grid map generating unit(220), a LPP(local path planning) establishment unit(230) and a driving control unit(300). The geographical feature detecting sensor unit collects data about the geographical information and obstacle information. The obstacle grid map generating unit uses the collected data and the grid map is generated. The GPP(global path planning) establishment unit comprises the LPP goal position selecting unit(231) and the minimum cost local path calculating unit(232). The driving control unit controls the driving following the calculated local path.
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