An Efficient Path Planning Algorithm Using a Potential Field for Ground Forces
With the development and proliferation of unmanned weapons systems, path planning is becoming increasingly important. Existing path-planning algorithms mainly assume a well-known environment, and thus pre-planning is desirable, but the actual ground battlefield is uncertain, and numerous contingenci...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Computation |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2079-3197/11/1/12 |
| _version_ | 1797444181946269696 |
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| author | Nakyeong Sung Suhwan Kim Namsuk Cho |
| author_facet | Nakyeong Sung Suhwan Kim Namsuk Cho |
| author_sort | Nakyeong Sung |
| collection | DOAJ |
| description | With the development and proliferation of unmanned weapons systems, path planning is becoming increasingly important. Existing path-planning algorithms mainly assume a well-known environment, and thus pre-planning is desirable, but the actual ground battlefield is uncertain, and numerous contingencies occur. In this study, we present a novel, efficient path-planning algorithm based on a potential field that quickly changes the path in a constantly changing environment. The potential field is composed of a set of functions representing enemy threats and a penalty term representing distance to the target area. We also introduce a new threat function using a multivariate skew-normal distribution that accurately expresses the enemy threat in ground combat. |
| first_indexed | 2024-03-09T13:07:54Z |
| format | Article |
| id | doaj.art-aa4c2d6dd7c14285bc95c7d1cb9dede2 |
| institution | Directory Open Access Journal |
| issn | 2079-3197 |
| language | English |
| last_indexed | 2024-03-09T13:07:54Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Computation |
| spelling | doaj.art-aa4c2d6dd7c14285bc95c7d1cb9dede22023-11-30T21:46:15ZengMDPI AGComputation2079-31972023-01-011111210.3390/computation11010012An Efficient Path Planning Algorithm Using a Potential Field for Ground ForcesNakyeong Sung0Suhwan Kim1Namsuk Cho2Department of Operations Research, Korea National Defence University (KNDU), Nonsan 33021, Republic of KoreaDepartment of Operations Research, Korea National Defence University (KNDU), Nonsan 33021, Republic of KoreaDepartment of Operations Research, Korea National Defence University (KNDU), Nonsan 33021, Republic of KoreaWith the development and proliferation of unmanned weapons systems, path planning is becoming increasingly important. Existing path-planning algorithms mainly assume a well-known environment, and thus pre-planning is desirable, but the actual ground battlefield is uncertain, and numerous contingencies occur. In this study, we present a novel, efficient path-planning algorithm based on a potential field that quickly changes the path in a constantly changing environment. The potential field is composed of a set of functions representing enemy threats and a penalty term representing distance to the target area. We also introduce a new threat function using a multivariate skew-normal distribution that accurately expresses the enemy threat in ground combat.https://www.mdpi.com/2079-3197/11/1/12path planningpotential fieldthreat functionground forces |
| spellingShingle | Nakyeong Sung Suhwan Kim Namsuk Cho An Efficient Path Planning Algorithm Using a Potential Field for Ground Forces Computation path planning potential field threat function ground forces |
| title | An Efficient Path Planning Algorithm Using a Potential Field for Ground Forces |
| title_full | An Efficient Path Planning Algorithm Using a Potential Field for Ground Forces |
| title_fullStr | An Efficient Path Planning Algorithm Using a Potential Field for Ground Forces |
| title_full_unstemmed | An Efficient Path Planning Algorithm Using a Potential Field for Ground Forces |
| title_short | An Efficient Path Planning Algorithm Using a Potential Field for Ground Forces |
| title_sort | efficient path planning algorithm using a potential field for ground forces |
| topic | path planning potential field threat function ground forces |
| url | https://www.mdpi.com/2079-3197/11/1/12 |
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