Path planning of unmanned vehicle using potential field and lane detection
Jun Young Baek, Sung Hyun Kim, Min Cheol Lee · Society of Instrument and Control Engineers of Japan · 2010
This paper presents a path planning algorithm which integrates the potential field method and lane detection for a UGV (Unmanned Ground Vehicle) in an urban environment. This algorithm can be used in situations, such as; erased lane markings on an urban road; an error of lane detection and DGPS data. This is because it integrates a run lane detection algorithm and potential field method. The driving algorithm for path planning is decided after visually checking for the existence of a lane.