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Currently, lateral control of unmanned ground vehicle use steering angle generated by driving path made in arbiter node. However, actual driving path quite different with pre-path by input value. This paper introduces that revision method to solve above problem.
The existing path planning algoritms focus on creating only shortest path from the start position to the goal. As result of process, the path made by this algoritms doesn't consider moving characteristics of object. And it is hard to apply to unmanned ground vehicle(we abbreviate the word by ‘UGV’). We must consider vehicle's kinematic factors for path planning for car-like vehicle. So we suggest...
The existing path plan algorithms repeat process until reach to goal position (from the start position). As result of process, path plan algorithms create the optimal paths. From the algorithm point of view, created paths are optimal paths because paths are the shortest and lowest. But this path does not consider unit's moving characteristics. The current path plan algorithms have been developing...
A navigation algorithm is very important on UGV. So, in this research, we propose the algorithm of navigation method by using RTK-GPS units and encoders. GPS systems sometimes lose their signals and receive inaccurate position data due to many factors, such as obstructions. This paper shows that GPS failure can be solved by using a DR navigation method with encoders and that position errors can be...
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