Improved A* Algorithm for Mobile Robots under Rough Terrain Based on Ground Trafficability Model and Ground Ruggedness Model

Improved A* Algorithm for Mobile Robots under Rough Terrain Based on Ground Trafficability Model and Ground Ruggedness Model

Considering that the existing path planning algorithms for mobile robots under rugged terrain do not consider the ground flatness and the lack of optimality, which leads to the instability of the center of mass of the mobile robot, this paper proposes an improved A* algorithm for mobile robots under...

Descrizione completa

Dettagli Bibliografici
Autori principali:	Zhiguang Liu, Song Guo, Fei Yu, Jianhong Hao, Peng Zhang
Natura:	Articolo
Lingua:	English
Pubblicazione:	MDPI AG 2024-07-01
Serie:	Sensors
Soggetti:	A* algorithm path planning elevation maps rough terrain
Accesso online:	https://www.mdpi.com/1424-8220/24/15/4884

Documenti analoghi

Evaluation of the Distribution of Terrain Roughness Index for Terrestrial Line of Site Microwave Links in Uyo Metropolis
di: Akinloye Bolanle Eunice, et al.
Pubblicazione: (2016-05-01)

Towards Transferable Use of Terrain Ruggedness Component in the Geodiversity Index
di: Borut Stojilković
Pubblicazione: (2022-02-01)

Terrain Representation and Distinguishing Ability of Roughness Algorithms Based on DEM with Different Resolutions
di: Jiang Wu, et al.
Pubblicazione: (2019-04-01)

Modeling of slip rate-dependent traversability for path planning of wheeled mobile robot in sandy terrain
di: Go Sakayori, et al.
Pubblicazione: (2024-01-01)

Dynamics and stability of running on rough terrains
di: Nihav Dhawale, et al.
Pubblicazione: (2019-03-01)

Partitioning of Terrain Features Based on Roughness
di: Jiang Wu, et al.
Pubblicazione: (2018-12-01)

Optimization of CCIR Pathloss Model Using Terrain Roughness Parameter
di: Nathaniel Chimaobi Nnadi, et al.
Pubblicazione: (2017-05-01)

Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain
di: Kang Xu, et al.
Pubblicazione: (2023-06-01)

A Review of Terrain Elevation Matching Algorithms for Undersea Vehicles
di: Lu XIONG, et al.
Pubblicazione: (2025-02-01)

Grid Map Construction and Terrain Prediction for Quadruped Robot Based on C-Terrain Path
di: Zhe Li, et al.
Pubblicazione: (2020-01-01)

Condition analysis of a multicopter carried with passive skid for rough terrain landing
di: Maozheng Xu, et al.
Pubblicazione: (2021-11-01)

Traversability Assessment and Trajectory Planning of Unmanned Ground Vehicles with Suspension Systems on Rough Terrain
di: Kai Zhang, et al.
Pubblicazione: (2019-10-01)

Comparing roughness maps generated by five typical roughness descriptors for LiDAR-derived digital elevation models
di: Lei Fan, et al.
Pubblicazione: (2024-04-01)

Path Planning for Wheeled Mobile Robot in Partially Known Uneven Terrain
di: Bo Zhang, et al.
Pubblicazione: (2022-07-01)

Unified Geomorphological Analysis Workflows with Benthic Terrain Modeler
di: Shaun Walbridge, et al.
Pubblicazione: (2018-03-01)

Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots
di: Qian Hao, et al.
Pubblicazione: (2020-08-01)

Design, Construction, and Rough-Terrain Locomotion Control of Novel Hexapod Walking Robot With Four Degrees of Freedom Per Leg
di: Petr Cizek, et al.
Pubblicazione: (2021-01-01)

Ground Moving Target Tracking Filter Considering Terrain and Kinematics
di: Do-Un Kim, et al.
Pubblicazione: (2021-10-01)

DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking
di: Hongfei Wang, et al.
Pubblicazione: (2015-03-01)

Knowledge-inducing Global Path Planning for Robots in Environment with Hybrid Terrain
di: Yi-nan Guo, et al.
Pubblicazione: (2010-09-01)

Improvement of Terrain Entropy Calculation for Grid Digital Elevation Models Considering Spatial Structural Features
di: Fangbin Zhou, et al.
Pubblicazione: (2025-02-01)

Method for Measuring the Information Content of Terrain from Digital Elevation Models
di: Lujin Hu, et al.
Pubblicazione: (2015-10-01)

Safe Path Planning of Mobile Robot Based on Improved A* Algorithm in Complex Terrains
di: Hong-Mei Zhang, et al.
Pubblicazione: (2018-04-01)

Measurement and Analysis of Near-Ground Propagation Models under Different Terrains for Wireless Sensor Networks
di: Weisheng Tang, et al.
Pubblicazione: (2019-04-01)

TouchTerrain—3D Printable Terrain Models
di: Chris Harding, et al.
Pubblicazione: (2021-02-01)

Rough terrain vehicle /
di: 343435 Miles, John A., et al.
Pubblicazione: (1983)

An efficient method for modeling and evaluating the bench terrain of open-pit mines
di: Bonan Wang, et al.
Pubblicazione: (2024-05-01)

Towards the Crowdsourcing of Massive Smartphone Assisted-GPS Sensor Ground Observations for the Production of Digital Terrain Models
di: Ido Massad, et al.
Pubblicazione: (2018-03-01)

Estimation of lidar-based gridded DEM uncertainty with varying terrain roughness and point density
di: Luyen K. Bui, et al.
Pubblicazione: (2023-01-01)

Improved A-Star Algorithm for Long-Distance Off-Road Path Planning Using Terrain Data Map
di: Zhonghua Hong, et al.
Pubblicazione: (2021-11-01)

SPIN-Based Linear Temporal Logic Path Planning for Ground Vehicle Missions with Motion Constraints on Digital Elevation Models
di: Manuel Toscano-Moreno, et al.
Pubblicazione: (2024-08-01)

GDAL and PROJ Libraries Integrated with GRASS GIS for Terrain Modelling of the Georeferenced Raster Image
di: Polina Lemenkova, et al.
Pubblicazione: (2023-03-01)

Terrain Irregularity Sensing by Evaluating Feet Coordinate Standard Deviation
di: Tomas Luneckas, et al.
Pubblicazione: (2025-01-01)

UAV-Based Terrain Modeling in Low-Vegetation Areas: A Framework Based on Multiscale Elevation Variation Coefficients
di: Jiaxin Fan, et al.
Pubblicazione: (2023-07-01)

Local relief approximation with deterministic methods for optimizing production facilities layout on rough terrain
di: V. G. Khomchenko, et al.
Pubblicazione: (2018-09-01)

Algorithm for Improved QPE over Complex Terrain Using Cloud-to-Ground Lightning Occurrences
di: Carlos Minjarez-Sosa, et al.
Pubblicazione: (2019-02-01)

Design and Experimental Development of a Pneumatic Stiffness Adjustable Foot System for Biped Robots Adaptable to Bumps on the Ground
di: Xizhe Zang, et al.
Pubblicazione: (2017-09-01)

Landing Control of Foot with Springs for Walking Robots on Rough Terrain
di: Moyuru Yamada, et al.
Pubblicazione: (2010-02-01)

Ground Target Tracking Using an Airborne Angle-Only Sensor with Terrain Uncertainty and Sensor Biases
di: Dipayan Mitra, et al.
Pubblicazione: (2022-01-01)

Quantification of Surface Pattern Based on the Binary Terrain Structure in Mountainous Areas
di: Sijin Li, et al.
Pubblicazione: (2023-05-01)