A Design of a Global Path Planner for Nonholonomic Vehicle Based on Dynamic Simulations
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F60162694%3AG43__%2F23%3A00557538" target="_blank" >RIV/60162694:G43__/23:00557538 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-030-98260-7_8" target="_blank" >http://dx.doi.org/10.1007/978-3-030-98260-7_8</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-030-98260-7_8" target="_blank" >10.1007/978-3-030-98260-7_8</a>
Alternative languages
Result language
angličtina
Original language name
A Design of a Global Path Planner for Nonholonomic Vehicle Based on Dynamic Simulations
Original language description
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.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Lecture Notes in Computer Science
ISBN
978-3-030-98259-1
ISSN
0302-9743
e-ISSN
1611-3349
Number of pages
18
Pages from-to
127-144
Publisher name
SPRINGER INTERNATIONAL PUBLISHING AG
Place of publication
Roma
Event location
, ELECTR NETWORK
Event date
Oct 13, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000787774900008