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Proceedings Paper

A novel approach of global path planning for UGV
Author(s): TokSon Choe; YongWoon Park; Jun Kim; SinCheon Kang; TaeYoung Jee; ChulHyung Ryu
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Paper Abstract

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.

Paper Details

Date Published: 9 May 2006
PDF: 8 pages
Proc. SPIE 6230, Unmanned Systems Technology VIII, 62302D (9 May 2006); doi: 10.1117/12.665379
Show Author Affiliations
TokSon Choe, Agency for Defense Development (South Korea)
YongWoon Park, Agency for Defense Development (South Korea)
Jun Kim, Agency for Defense Development (South Korea)
SinCheon Kang, Agency for Defense Development (South Korea)
TaeYoung Jee, Agency for Defense Development (South Korea)
ChulHyung Ryu, Agency for Defense Development (South Korea)

Published in SPIE Proceedings Vol. 6230:
Unmanned Systems Technology VIII
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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