SYSTEM AND METHOD FOR PATH PLANNING FOR AUTONOMOUS NAVIGATION OF DRIVERLESS GROUND VEHICLE

摘要

The present invention relates to a system and a method for tracking a path to autonomously drive an unmanned vehicle. The path tracking method includes the steps of: (a) generating a true path by compensating the path points of a global path provided in advance with secondary compensation points; (b) generating a reference path parallel to the true path by using the current location of the vehicle; (c) generating one or more candidate paths by using the current location of the vehicle as a starting point and generating virtual path points in the number of the reference points in the reference path; (d) inspecting whether an obstacle can interfere the generated candidate paths and modifying the candidate paths when there is no presence of such obstacle; and (e) selecting the optimal path from the modified candidate paths based on the elapsed time and the index of a target point.