A novel approach of global path planning for UGV

TokSon Choe; YongWoon Park; Jun Kim; SinCheon Kang; TaeYoung Jee; ChulHyung Ryu

doi:10.1117/12.665379

9 May 2006 A novel approach of global path planning for UGV

TokSon Choe, YongWoon Park, Jun Kim, SinCheon Kang, TaeYoung Jee, ChulHyung Ryu

Proceedings Volume 6230, Unmanned Systems Technology VIII; 62302D (2006) https://doi.org/10.1117/12.665379
Event: Defense and Security Symposium, 2006, Orlando (Kissimmee), Florida, United States

Abstract

Global path planning (GPP) is the generation of an optimal trajectory to efficiently move from one position to specified target position with known environment. Most of GPP methodologies offer an optimal 2D-shortest path without considering vehicle parameters on the plain environments. However, it is motivated to consider 3D terrain and vehicle parameters to enhance traversability on the rough terrain. In this paper, we propose a novel approach of GPP method for unmanned ground vehicles (UGVs) by applying distance transform (3D to 2D) based on the slope of terrain. In addition, the generated path is modified by smoothing process based on the local path planning method which considers vehicle stability on the specified candidate curve and speed. The proposed methodology is tested by simulations and shows enhanced performance.

Citation Download Citation

TokSon Choe, YongWoon Park, Jun Kim, SinCheon Kang, TaeYoung Jee, and ChulHyung Ryu "A novel approach of global path planning for UGV", Proc. SPIE 6230, Unmanned Systems Technology VIII, 62302D (9 May 2006); https://doi.org/10.1117/12.665379

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KEYWORDS

Detection and tracking algorithms

Unmanned ground vehicles

Binary data

Computer simulations

Free space

3D image processing

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