Adaptive Motion Planning Based on Vehicle Characteristics and Regulations for Off-Road UGVs

被引：39

作者：

Ji, Yonghoon ^{[1
]}

Tanaka, Yusuke ^{[2
]}

Tamura, Yusuke ^{[3
]}

Kimura, Mai ^{[4
]}

Umemura, Atsushi ^{[6
]}

Kaneshima, Yoshiharu ^{[4
]}

Murakami, Hiroki ^{[5
]}

Yamashita, Atsushi ^{[3
]}

Asama, Hajime ^{[3
]}

机构：

[1] Chuo Univ, Fac Sci & Engn, Dept Precis Mech, Tokyo 1128551, Japan

[2] Toyota Motor Co Ltd, Toyota 4718571, Japan

[3] Univ Tokyo, Sch Engn, Dept Precis Engn, Tokyo 1138656, Japan

[4] IHI Corp, Robot Grp, Robot Technol Dept, Prod Dev Ctr, Yokohama, Kanagawa 2358501, Japan

[5] IHI Corp, Corp Res & Dev, Yokohama, Kanagawa 2358501, Japan

[6] Silicon Studio Corp, Technol Business Div, Project Dept, Tokyo 1500013, Japan

来源：

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS | 2019年 / 15卷 / 01期

关键词：

Autonomous navigation; field robots; motion planning; unmanned ground vehicle (UGV); ROBOT;

D O I：

10.1109/TII.2018.2870662

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose a novel motion planning method for off-road unmanned ground vehicles, based on three-dimensional (3-D) terrain map information. Previous studies on the motion planning of a vehicle traveling on rough terrain dealt only with a relatively small environment. Furthermore, unique vehicle characteristics were not considered, and it was also impossible to incorporate regulations, such as maintaining driving speed and suppressing posture change. The proposed method enables vehicles to adaptively generate a path by considering vehicle characteristics and the regulations, in a large-scale environment, with rough terrain. A random sampling based scheme was applied to carrying out global path planning, based on a 3-D environmental model. Experimental results showed that the proposed off-road motion planner could generate an appropriate path, which satisfies vehicle characteristics and predefined regulations.

引用

页码：599 / 611

页数：13

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