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dc.contributor.authorThoresen, Mariusen_GB
dc.contributor.authorNielsen, Niels Hygumen_GB
dc.contributor.authorMathiassen, Kimen_GB
dc.contributor.authorPettersen, Kristin Ytterstaden_GB
dc.date.accessioned2021-02-18T09:25:12Z
dc.date.accessioned2021-02-22T10:44:08Z
dc.date.available2021-02-18T09:25:12Z
dc.date.available2021-02-22T10:44:08Z
dc.date.issued2021-02-01
dc.identifier1514
dc.identifier.citationThoresen M, Nielsen NH, Mathiassen K, Pettersen KY. Path Planning for UGVs Based on Traversability Hybrid A*. IEEE Robotics and Automation Letters. 2021;6(2):1216-1223en_GB
dc.identifier.urihttp://hdl.handle.net/20.500.12242/2837
dc.descriptionThoresen, Marius; Nielsen, Niels Hygum; Mathiassen, Kim; Pettersen, Kristin Ytterstad. Path Planning for UGVs Based on Traversability Hybrid A*. IEEE Robotics and Automation Letters 2021 ;Volum 6.(2) s. 1216-1223en_GB
dc.description.abstractIn this letter, a new method of path planning for unmanned ground vehicles (UGVs) on terrain is developed. For UGVs moving on terrain, path traversability and collision avoidance are important factors. If traversability is not considered, the planned path may lead a UGV into areas that will cause rough vehicle motion or lead to the UGV getting stuck if the traversability is low. The proposed path planning method is based on the Hybrid A* algorithm and uses estimated terrain traversability to find the path that optimizes both traversability and distance for the UGV. The path planning method is demonstrated using simulated traversability maps and is compared to the original Hybrid A* algorithm. The method is also verified through real-time experiments in real terrain, further demonstrating the benefits of terrain traversability optimization using the proposed path planning method. In the experiments, the proposed method was successfully applied for autonomous driving over distances of up to 270 m in rough terrain. Compared with the existing Hybrid A* method, the proposed method produces more traversable paths.en_GB
dc.language.isoenen_GB
dc.subjectUbemannede bakkekjøretøyer (UGV)en_GB
dc.subjectAutonomien_GB
dc.subjectRuteplanleggingen_GB
dc.subjectTerrengmodelleren_GB
dc.titlePath Planning for UGVs Based on Traversability Hybrid A*en_GB
dc.typeArticleen_GB
dc.date.updated2021-02-18T09:25:12Z
dc.identifier.cristinID1891190
dc.identifier.doi10.1109/LRA.2021.3056028
dc.relation.projectIDNorges forskningsråd: 223254
dc.source.issn2377-3766
dc.subject.nsiVDP::Teknologi: 500
dc.subject.nsiVDP::Technology: 500
dc.type.documentJournal article
dc.relation.journalIEEE Robotics and Automation Letters


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