BROWSE
Detail
Conference Paper
U-turn Motion Planner for Autonomous Navigation System
Cited - time in 
Share 
Share
- Authors
- Byungjae Park, Jaemin Byun, Woo Yong Han
- Issue Date
- 2016-10
- Citation
- International Conference on Control, Automation and Systems (ICCAS) 2016, pp.321-324
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- A motion planner for an autonomous navigation system is proposed to make a U-turn in an urban environment. The proposed method uses the A* graph search algorithm to search for a collision-free trajectory in the four-dimensional space. During the search process, the safety of the trajectory is checked using an occupancy gridmap, which is built using 3D LiDAR data. An experiment in a real road environment was conducted to verify that the proposed motion planner can search for a collision-free trajectory to make a U-turn safely.
- KSP Keywords
- 3D LIDAR data, Autonomous Navigation System, Collision-free trajectory, Four-dimensional space, Motion planner, Search Algorithm(GSA), U-turn, graph search algorithm, road environment, search process, urban environment