The research of Multi-Layer-Based on Path Planning for generating optimal path
Jiwon Sa, Kyung-Il Lim, Jungha Kim · 2016
In this Paper, to provide the Multi-Layer Based on Path Planning System(MLPPS) for generated optimal path. Previously used path planning system, single-layer based on path planning system, local map of the path in a single situation was ensured by the optimal path. However, there is a problem that continuously local map is acquired to update the more than necessary parts of the map. These problem are due to the continuous path update, can maintain the unnecessary paths, so that it is impossible to ensure optimal path planning system. To solve this problem, we propose MLPPS. Unlike single layer path planning system, MLPPS was divided Under Layer Path Planner and Upper Layer Path Planner. Under Layer Path Planner is generated the local path. And Upper Layer Path Planner is transmitted the optimal path to autonomous vehicle. The Arbiter is present between the two layers. Arbiter through the decision-making local path of the Under Layer Path Planner is to determine whether the optimal path. In the remainder of this paper, it describes how to generate local paths by Under Layer Path Planner and optimal path determined by Arbiter.