Publication detail
A Design of a Global Path Planner for Nonholonomic Vehicle Based on Dynamic Simulations
ADÁMEK, R. RAJCHL, M. KŘIVÁNEK, V. GREPL, R.
English title
A Design of a Global Path Planner for Nonholonomic Vehicle Based on Dynamic Simulations
Type
conference paper
Language
en
Original abstract
In this paper, an algorithm for global path planning of nonholonomic unmanned ground vehicle (UGV), which moves through diverse terrain, is presented. The proposed algorithm utilizes a simplified dynamic model of the vehicle to verify the passability of a planned movement from node to node and to calculate the duration of this movement and the actual velocity of the vehicle in these nodes. The algorithm operates on a grid map that represents terrain elevation obtained from a triangular irregular network (TIN) map. This map was received from publicly available aerial laser scan data of a land surface in Central Europe. The final path is optimised from the point of view of travel time and respects the nonholonomic constraints of the UGV. This approach ensures that the obtained path is feasible, not only considering the geometric constraints of the vehicle but also its physical limits, i.e., maximum applied torque, maximum velocity, steering limit, etc.
English abstract
In this paper, an algorithm for global path planning of nonholonomic unmanned ground vehicle (UGV), which moves through diverse terrain, is presented. The proposed algorithm utilizes a simplified dynamic model of the vehicle to verify the passability of a planned movement from node to node and to calculate the duration of this movement and the actual velocity of the vehicle in these nodes. The algorithm operates on a grid map that represents terrain elevation obtained from a triangular irregular network (TIN) map. This map was received from publicly available aerial laser scan data of a land surface in Central Europe. The final path is optimised from the point of view of travel time and respects the nonholonomic constraints of the UGV. This approach ensures that the obtained path is feasible, not only considering the geometric constraints of the vehicle but also its physical limits, i.e., maximum applied torque, maximum velocity, steering limit, etc.
Keywords in English
Global path panning; Nonholonomic vehicle; UGV; Elevation map; Hybrid A*
Released
05.05.2022
Publisher
SPRINGER INTERNATIONAL PUBLISHING AG
Location
Virtual, Online
ISBN
978-3-030-98260-7
ISSN
1611-3349
Book
Modelling and Simulation for Autonomous Systems
Volume
13207
Pages from–to
127–144
Pages count
18
BIBTEX
@inproceedings{BUT177825,
author="Roman {Adámek} and Matej {Rajchl} and Václav {Křivánek} and Robert {Grepl},
title="A Design of a Global Path Planner for Nonholonomic Vehicle Based on Dynamic Simulations",
booktitle="Modelling and Simulation for Autonomous Systems",
year="2022",
volume="13207",
month="May",
pages="127--144",
publisher="SPRINGER INTERNATIONAL PUBLISHING AG",
address="Virtual, Online",
isbn="978-3-030-98260-7",
issn="1611-3349"
}