Real-time path planning for high speed UGVs Online publication date: Tue, 01-Oct-2019
by Ajith Gopal; Elsmari Wium
International Journal of Intelligent Systems Technologies and Applications (IJISTA), Vol. 18, No. 6, 2019
Abstract: The application of a modified A-star (A*) global search algorithm and trajectory planner based on the tentacles algorithm approach are investigated for real-time path and trajectory planning on an unmanned ground vehicle operating at a speed of 40 km/h. The fundamental assumption made is that for high speed applications, the requirement for an optimal path is secondary to the requirement for short processing times, provided that a solution, if it exists, is found. The proposed solution is benchmarked against the original A* algorithm and shows a reduction in search space of up to 84% and a reduction in processing time of up to 97%. Results for the trajectory planner are also presented, though no direct comparative evaluation against the original tentacles algorithm was executed. The combined path and trajectory processing time of the proposed solution translates to less than 2 mm of travel distance before a reaction to a change in the environment can be processed.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Intelligent Systems Technologies and Applications (IJISTA):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook