Global path generation method for wide-area off-road environment, and global path generator for the same
AssigneeHanwha Aerospace Co., Ltd.
InventorsJae Hyun KIM, Min Hyeok KWON, Seung Uk AHN
Life of this patent
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Abstract
A global path generation method for a wide-area off-road environment in which an unmanned vehicle performs autonomous driving includes generating an occupancy grid map for a driving area through a sensor, converting the occupancy grid map into a distance map, generating a plurality of nodes by sampling unit grids that are are randomly and uniformly distributed in the driving area of the distance map, generating a plurality of links connecting the plurality of nodes, receiving a destination position of the unmanned vehicle, and generating a global path by connecting optimal links for arriving at the destination position among the plurality of links.
Claims20
A global path generation method for a wide-area off-road environment in which an unmanned vehicle performs autonomous driving, the global path generation method comprising:
- generating an occupancy grid map for a driving area through a sensor;
- converting the occupancy grid map into a distance map;
- generating a plurality of nodes by sampling unit grids, the unit grids being randomly and uniformly distributed in the driving area of the distance map;
- generating a plurality of links connecting the plurality of nodes;
- receiving a destination position of the unmanned vehicle;
- and
- generating a global path by connecting optimal links for arriving at the destination position among the plurality of links.
A global path generator for a wide-area off-road environment in which an unmanned vehicle performs autonomous driving, comprising:
- a memory storing instructions;
- and
- at least one processor configured to execute the instructions to:
- generate an occupancy grid map for a driving area through a sensor;
- convert the occupancy grid map into a distance map;
- generate a plurality of nodes by sampling unit grids, the unit grids being randomly and uniformly distributed in the driving area of the distance map;
- generate a plurality of links connecting the plurality of nodes;
- receive a destination position of the unmanned vehicle;
- and
- generate a global path by connecting optimal links for arriving at the destination position among the plurality of links.
Dependencies are inferred from the claim text.