A Global Path Planning Method for Unmanned Ground Vehicles in Off-Road Environments Based on Mobility Prediction

doi:10.3390/machines10050375

	A Global Path Planning Method for Unmanned Ground Vehicles in Off-Road Environments Based on Mobility Prediction
	Hua, Chen 1,2; Niu, Runxin 2; Yu, Biao 2; Zheng, Xiaokun 1,2; Bai, Rengui 1,2; Zhang, Song 1,2
刊名	MACHINES
	2022-05-01
卷号	10
关键词	soil terrain vehicle mobility terramechanics fuzzy inference route generation
DOI	10.3390/machines10050375
通讯作者	Yu, Biao(byu@hfcas.ac.cn)
英文摘要	In a complex off-road environment, due to the low bearing capacity of the soil and the uneven features of the terrain, generating a safe and effective global route for unmanned ground vehicles (UGVs) is critical for the success of their motion and mission. Most traditional global path planning methods simply take the shortest path length as the optimization objective, which makes it difficult to plan a feasible and safe route in complex off-road environments. To address this problem, this research proposes a global path planning method, which considers the influence of terrain factors and soil mechanics on UGV mobility. First, we established a high-resolution 3D terrain model with remote sensing elevation terrain data, land use and soil type distribution data, based on a geostatistical method. Second, we analyzed the vehicle mobility by the terramechanical method (i.e., vehicle cone index and Bakker's theory), and then calculated the mobility cost based on a fuzzy inference method. Finally, based on the calculated mobility cost, the probabilistic roadmap method was used to establish the connected matrix and the multi-dimensional traffic cost evaluation matrix among the sampling nodes, and then an improved A* algorithm was proposed to generate the global route.
资助项目	Youth Innovation Promotion Association of CAS[Y2021115]
WOS关键词	GENERATION ; ASTERISK ; TIME ; MAPS
WOS研究方向	Engineering
语种	英语
出版者	MDPI
WOS记录号	WOS:000801687800001
资助机构	Youth Innovation Promotion Association of CAS
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/131075]
专题	中国科学院合肥物质科学研究院
通讯作者	Yu, Biao
作者单位	1.Univ Sci & Technol China, Sci Isl Branch, Hefei 230026, Peoples R China 2.Chinese Acad Sci, Hefei Inst Phys Sci, Hefei 230031, Peoples R China
推荐引用方式 GB/T 7714	Hua, Chen,Niu, Runxin,Yu, Biao,et al. A Global Path Planning Method for Unmanned Ground Vehicles in Off-Road Environments Based on Mobility Prediction[J]. MACHINES,2022,10.
APA	Hua, Chen,Niu, Runxin,Yu, Biao,Zheng, Xiaokun,Bai, Rengui,&Zhang, Song.(2022).A Global Path Planning Method for Unmanned Ground Vehicles in Off-Road Environments Based on Mobility Prediction.MACHINES,10.
MLA	Hua, Chen,et al."A Global Path Planning Method for Unmanned Ground Vehicles in Off-Road Environments Based on Mobility Prediction".MACHINES 10(2022).