A Global Path Planning Method for Unmanned Ground Vehicles in Off-Road Environments Based on Mobility Prediction
文献类型：期刊论文
| 作者 | Hua, Chen1,2; Niu, Runxin2; Yu, Biao2 ; Zheng, Xiaokun1,2; Bai, Rengui1,2; Zhang, Song1,2
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| 刊名 | MACHINES
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| 出版日期 | 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. |
| WOS关键词 | GENERATION ; ASTERISK ; TIME ; MAPS |
| 资助项目 | Youth Innovation Promotion Association of CAS[Y2021115] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000801687800001 |
| 出版者 | MDPI |
| 资助机构 | Youth Innovation Promotion Association of CAS |
| 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). |
入库方式： OAI收割
来源：合肥物质科学研究院
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