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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Lecture Notes in Computer Science

ISBN

978-3-030-98259-1

ISSN

0302-9743

e-ISSN

1611-3349

Počet stran výsledku

18

Strana od-do

127-144

Název nakladatele

SPRINGER INTERNATIONAL PUBLISHING AG

Místo vydání

Roma

Místo konání akce

, ELECTR NETWORK

Datum konání akce

13. 10. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000787774900008