PURPOSE: A method for executing an optimum and safe routing plan is provided to define danger areas in the entire route for safe autonomous navigation, compose a grid map using a repulsion function of recognition limited areas, and consider the danger repulsive power according to the level of danger, thereby establishing an optimum and safe routing plan.;CONSTITUTION: An S* algorithm reads the entire map of a region (S1) and composes a grid map from the map (S2). Based on the regional closure characteristics, a region with collision danger is defined as a danger area (S3). A region with frequent accidents or congestion is defined as an urgent area, and the definition is reflected to the grid map (S4). When a start point and an end point are given (S5), nodes adjacent to the start node are added into an open list where unexplored nodes are recorded (S6). Based on a safety cost evaluation function, nodes with the minimum safety cost, among nodes adjacent to the current node, are selected, and the safest node is identified (S7). A node for which the search is completed is added into a closed list where already explored nodes are recorded so that those nodes are not to be searched any more (S8).;COPYRIGHT KIPO 2013
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