A novel approach of global path planning for UGV
Tok‐Son Choe, Yong‐Woon Park, Jun Kim, Sin Cheon Kang, Tae Young Jee, Chul-hyung Ryu · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2006
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.