상세정보
학술대회
Reference Velocity Estimation Method for On-Road Unmanned Ground Vehicle
- 발행일
- 201310
- 출처
- International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2013, pp.230-231
- 협약과제
- 13VC1700, ICT기반 차량/운전자 협력자율주행 시스템(Co-Pilot)의 판단/제어 기술 개발, 한우용
- 초록
- The proposed method generates a safe global trajectory with reference velocities for a on-road unmanned ground vehicle to navigate in outdoor environments such as highways or roads. It generates a trajectory from a given global path consist of sparse waypoints without abrupt heading direction changes and estimates reference velocities to follow the given global path without slippages. It was implemented to verify that it can generate a safe trajectory with reference velocities using a data set acquired in a real outdoor environment. © 2013 IEEE.
- KSP 제안 키워드
- Data sets, Estimation method, Global Path, Outdoor environments, Reference velocity, Unmanned ground Vehicle, Velocity estimation, heading direction