Detail publikace
A Design of a Global Path Planner for Nonholonomic Vehicle Based on Dynamic Simulations
ADÁMEK, R. RAJCHL, M. KŘIVÁNEK, V. GREPL, R.
Anglický název
A Design of a Global Path Planner for Nonholonomic Vehicle Based on Dynamic Simulations
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
en
Originální abstrakt
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.
Anglický abstrakt
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.
Klíčová slova anglicky
Global path panning; Nonholonomic vehicle; UGV; Elevation map; Hybrid A*
Vydáno
05.05.2022
Nakladatel
SPRINGER INTERNATIONAL PUBLISHING AG
Místo
Virtual, Online
ISBN
978-3-030-98260-7
ISSN
1611-3349
Kniha
Modelling and Simulation for Autonomous Systems
Ročník
13207
Strany od–do
127–144
Počet stran
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"
}