Path planning for unmanned ground vehicle based on fuzzy obstacles environment model
Ximing Wang · 2009
A challenge in path planning for military unmanned ground vehicle is to understand the road conditions and analyze the usability of the roads. Based on fuzzy obstacles,an environment modeling approach was presented,and an applicability index was defined to evaluate the locomotive capability of UGV on a road surface according to the road conditions and passing rules. Finally A-star algorithm was used to search the routes. The simulation results show that the presented method is effective and stable,capable of achieving multiple objectives according to different missions.