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ROS(Robot Operating System) 기반 자율주행 배송 플랫폼 아키텍쳐 설계
손영광(Younggwang Son),정경섭(kyeongsub Jeong),노승현(Seunghyeon Noh),이주현(Juhyeon Lee),문대영(Daeyoung Moon),심우현(Woohyun Sim),주형진(Hyeongjin Joo),전영훈(Younghoon Jeon),김범준(Beomjoon Kim),이기범(Kibeom Lee) 한국자동차공학회 2020 한국자동차공학회 학술대회 및 전시회 Vol.2020 No.11
Recently, there is a lot of demand for non-face-to-face food and parcel delivery. The autonomous delivery platforms require high-level autonomous driving technology to drive on general roads and cope with unexpected situations. However, much research has not been conducted compared to autonomous vehicles (AV). Autonomous delivery platforms are equipped with various sensors such as LiDAR, Camera, GPS, and IMU. Such sensors need to select the optimal equip position and angle according to the size or shape of the platform. Also, in order to implement an autonomous delivery system, various driving algorithms are required and integration of each element algorithm is essential. In this research, a variable platform is designed to easily set the position to optimize the sensor performance. An autonomous driving algorithm structure for modularization is developed.