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A Global Path Planning Method for Unmanned Ground Vehicles in Off-Road Environments Based on Mobility Prediction. MACHINES 2022. [DOI: 10.3390/machines10050375] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/04/2023]
Abstract
In a complex off-road environment, due to the low bearing capacity of the soil and the uneven features of the terrain, generating a safe and effective global route for unmanned ground vehicles (UGVs) is critical for the success of their motion and mission. Most traditional global path planning methods simply take the shortest path length as the optimization objective, which makes it difficult to plan a feasible and safe route in complex off-road environments. To address this problem, this research proposes a global path planning method, which considers the influence of terrain factors and soil mechanics on UGV mobility. First, we established a high-resolution 3D terrain model with remote sensing elevation terrain data, land use and soil type distribution data, based on a geostatistical method. Second, we analyzed the vehicle mobility by the terramechanical method (i.e., vehicle cone index and Bakker’s theory), and then calculated the mobility cost based on a fuzzy inference method. Finally, based on the calculated mobility cost, the probabilistic roadmap method was used to establish the connected matrix and the multi-dimensional traffic cost evaluation matrix among the sampling nodes, and then an improved A* algorithm was proposed to generate the global route.
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Hesse R, Krull F, Antonyuk S. Prediction of random packing density and flowability for non-spherical particles by deep convolutional neural networks and Discrete Element Method simulations. POWDER TECHNOL 2021. [DOI: 10.1016/j.powtec.2021.07.056] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/20/2022]
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Comparative performance of granular scaling laws for lightweight grouser wheels in sand and lunar simulant. POWDER TECHNOL 2020. [DOI: 10.1016/j.powtec.2020.05.114] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/24/2022]
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