Fast Route Planner Considering Terrain Information
Route planning considering terrain information is useful for the navigation of autonomous ground vehicles (AGV) on complicated terrain surfaces, such as mountains with rivers. For instance, an AGV in mountains cannot cross a river or a valley that is too steep. This article addresses a novel route-p...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-06-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/12/4518 |
| _version_ | 1797482402168176640 |
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| author | Jonghoek Kim |
| author_facet | Jonghoek Kim |
| author_sort | Jonghoek Kim |
| collection | DOAJ |
| description | Route planning considering terrain information is useful for the navigation of autonomous ground vehicles (AGV) on complicated terrain surfaces, such as mountains with rivers. For instance, an AGV in mountains cannot cross a river or a valley that is too steep. This article addresses a novel route-planning algorithm that is time-efficient in building a sub-optimal route considering terrain information. In order to construct a route from the start to the end point in a time-efficient manner, we simulate two virtual vehicles that deploy virtual nodes iteratively, such that the connected node network can be formed. The generated node network serves as a topological map for a real AGV, and we construct the shortest route from the start to the end point utilizing the network. The route is weighted considering the route length, the steepness of the route, and the traversibility of the route. Through MATLAB simulations, we demonstrate the effectiveness of the proposed route-planning algorithm by comparing it with RRT-star planners. |
| first_indexed | 2024-03-09T22:31:50Z |
| format | Article |
| id | doaj.art-5ea55ad280c64cc2b67f351aced93674 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T22:31:50Z |
| publishDate | 2022-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-5ea55ad280c64cc2b67f351aced936742023-11-23T18:54:40ZengMDPI AGSensors1424-82202022-06-012212451810.3390/s22124518Fast Route Planner Considering Terrain InformationJonghoek Kim0Electronic and Electrical Department, Sungkyunkwan University, Suwon 03063, KoreaRoute planning considering terrain information is useful for the navigation of autonomous ground vehicles (AGV) on complicated terrain surfaces, such as mountains with rivers. For instance, an AGV in mountains cannot cross a river or a valley that is too steep. This article addresses a novel route-planning algorithm that is time-efficient in building a sub-optimal route considering terrain information. In order to construct a route from the start to the end point in a time-efficient manner, we simulate two virtual vehicles that deploy virtual nodes iteratively, such that the connected node network can be formed. The generated node network serves as a topological map for a real AGV, and we construct the shortest route from the start to the end point utilizing the network. The route is weighted considering the route length, the steepness of the route, and the traversibility of the route. Through MATLAB simulations, we demonstrate the effectiveness of the proposed route-planning algorithm by comparing it with RRT-star planners.https://www.mdpi.com/1424-8220/22/12/4518fast route plannercollision avoidancerough terrainsafe route plannerroute lengthterrain information |
| spellingShingle | Jonghoek Kim Fast Route Planner Considering Terrain Information Sensors fast route planner collision avoidance rough terrain safe route planner route length terrain information |
| title | Fast Route Planner Considering Terrain Information |
| title_full | Fast Route Planner Considering Terrain Information |
| title_fullStr | Fast Route Planner Considering Terrain Information |
| title_full_unstemmed | Fast Route Planner Considering Terrain Information |
| title_short | Fast Route Planner Considering Terrain Information |
| title_sort | fast route planner considering terrain information |
| topic | fast route planner collision avoidance rough terrain safe route planner route length terrain information |
| url | https://www.mdpi.com/1424-8220/22/12/4518 |
| work_keys_str_mv | AT jonghoekkim fastrouteplannerconsideringterraininformation |