Local Path Planning Method based on Autonomy Manager for Autonomous Navigation in Urban Environment
Young-Il Lee, Seongyong Ahn, Chong-Hui Kim · Journal of the Korea Institute of Military Science and Technology · 2013
In this paper, we propose a local path planning method based on RANGER algorithm and autonomy manager for autonomous navigation of UGV in urban environment. LPP method is designed to generate the local path in sensing area by using lane and curb of pavement and autonomy manager is designed to make a decision which transit the status of LPP component to a proper status for current navigation environment. A field test is conducted with scenarios in real urban environment in which crossroad, crosswalk and pavement are included and the performance of proposed method is validated.