Path Planning for Unmanned Ground Vehicle Based on Map Building
Zhang Zhiyao · Keji daobao · 2010
This paper puts forward a two-layered path planning algorithm to be used for map building and path planning at the same time.The function of the upper layer is to create sub-goals,and the lower layer is to plan local routes.Based on the system real-time demand,the task of creating sub-goals is carried out at intervals of N system cycles.But at every system cycle,the algorithms of planning the local routes and motion controls are all carried on for the safety of system.The map building algorithm makes use of the information acquired by the Unmanned Ground Vehicle(UGV) and the environment information is processed by sonar,which is combined into the local map,to generate and renew grid-occupation based map.Based on the map,the A-star algorithm creates sub-goals and plans the route which makes the assessment function reach a minimum.At every system cycle,the strategy based on fuzzy control is implemented to avoid obstacles due to sub-goals.In this paper,the strategy is divided into the left following-wall and the right following-wall to decide which boundary of the obstacle to follow using the information from sonar synchronously.The algorithm is verified on Pioneer 3-AT UGV in an unknown and complicated environment.It is shown that the system can achieve practical map building and path planning with a good accuracy.The system supported in this paper is easy to extend and re-structure and to be transplanted to other systems.