Publication detail

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

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

Original Title

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

Type

conference paper

Language

English

Original Abstract

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.

Keywords

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

Authors

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

Released

5. 5. 2022

Publisher

SPRINGER INTERNATIONAL PUBLISHING AG

Location

Virtual, Online

ISBN

978-3-030-98260-7

Book

Modelling and Simulation for Autonomous Systems

Edition

1

ISBN

1611-3349

Periodical

Lecture Notes in Computer Science

Year of study

13207

State

Republic of Italy

Pages from

127

Pages to

144

Pages count

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",
  issn="1611-3349",
  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"
}