Detail publikačního výsledku

A Design of a Global Path Planner for Nonholonomic Vehicle Based on Dynamic Simulations

ADÁMEK, R.; RAJCHL, M.; KŘIVÁNEK, V.; GREPL, R.

Originální název

A Design of a Global Path Planner for Nonholonomic Vehicle Based on Dynamic Simulations

Anglický název

A Design of a Global Path Planner for Nonholonomic Vehicle Based on Dynamic Simulations

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

In this paper, an algorithm for global path planning of nonholonomic unmanned ground vehicle (UGV), which moves through diverse terrain, is presented. The proposed algorithm utilizes a simplified dynamic model of the vehicle to verify the passability of a planned movement from node to node and to calculate the duration of this movement and the actual velocity of the vehicle in these nodes. The algorithm operates on a grid map that represents terrain elevation obtained from a triangular irregular network (TIN) map. This map was received from publicly available aerial laser scan data of a land surface in Central Europe. The final path is optimised from the point of view of travel time and respects the nonholonomic constraints of the UGV. This approach ensures that the obtained path is feasible, not only considering the geometric constraints of the vehicle but also its physical limits, i.e., maximum applied torque, maximum velocity, steering limit, etc.

Anglický abstrakt

In this paper, an algorithm for global path planning of nonholonomic unmanned ground vehicle (UGV), which moves through diverse terrain, is presented. The proposed algorithm utilizes a simplified dynamic model of the vehicle to verify the passability of a planned movement from node to node and to calculate the duration of this movement and the actual velocity of the vehicle in these nodes. The algorithm operates on a grid map that represents terrain elevation obtained from a triangular irregular network (TIN) map. This map was received from publicly available aerial laser scan data of a land surface in Central Europe. The final path is optimised from the point of view of travel time and respects the nonholonomic constraints of the UGV. This approach ensures that the obtained path is feasible, not only considering the geometric constraints of the vehicle but also its physical limits, i.e., maximum applied torque, maximum velocity, steering limit, etc.

Klíčová slova

Global path panning; Nonholonomic vehicle; UGV; Elevation map; Hybrid A*

Klíčová slova v angličtině

Global path panning; Nonholonomic vehicle; UGV; Elevation map; Hybrid A*

Autoři

ADÁMEK, R.; RAJCHL, M.; KŘIVÁNEK, V.; GREPL, R.

Rok RIV

2022

Vydáno

05.05.2022

Nakladatel

SPRINGER INTERNATIONAL PUBLISHING AG

Místo

Virtual, Online

ISBN

978-3-030-98260-7

Kniha

Modelling and Simulation for Autonomous Systems

Edice

1

ISSN

1611-3349

Periodikum

Lecture Notes in Computer Science

Svazek

13207

Stát

Švýcarská konfederace

Strany od

127

Strany do

144

Strany počet

18

URL

https://www.scopus.com/record/display.uri?eid=2-s2.0-85128725664&origin=resultslist&sort=plf-f&src=s&st1=adamek&st2=roman&nlo=1&nlr=20&nls=count-f&sid=819a3d8ffbf164864f080c659336b542&sot=anl&sdt=aut&sl=34&s=AU-ID%28%22Ad%c3%a1mek%2c+Roman%22+57614043100%29&relpos=1&citeCnt=0&searchTerm=&featureToggles=FEATURE_NEW_DOC_DETAILS_EXPORT:1

BibTex

@inproceedings{BUT177825,
  author="Roman {Adámek} and Matej {Rajchl} and Václav {Křivánek} and Robert {Grepl}",
  title="A Design of a Global Path Planner for Nonholonomic Vehicle Based on Dynamic Simulations",
  booktitle="Modelling and Simulation for Autonomous Systems",
  year="2022",
  series="1",
  journal="Lecture Notes in Computer Science",
  volume="13207",
  pages="127--144",
  publisher="SPRINGER INTERNATIONAL PUBLISHING AG",
  address="Virtual, Online",
  doi="10.1007/978-3-030-98260-7\{_}8",
  isbn="978-3-030-98260-7",
  url="https://www.scopus.com/record/display.uri?eid=2-s2.0-85128725664&origin=resultslist&sort=plf-f&src=s&st1=adamek&st2=roman&nlo=1&nlr=20&nls=count-f&sid=819a3d8ffbf164864f080c659336b542&sot=anl&sdt=aut&sl=34&s=AU-ID%28%22Ad%c3%a1mek%2c+Roman%22+57614043100%29&relpos=1&citeCnt=0&searchTerm=&featureToggles=FEATURE_NEW_DOC_DETAILS_EXPORT:1"
}