Abstract
Path planning is required for a vehicle with the mission which includes the avoidance of certain areas. There are various kinds of algorithms for path planning. Typical algorithms are Voronoi diagram, visibility graph, potential field and trajectory optimization. These algorithms often need post-processing technique to satisfy the vehicles’ constraints such as turning angle and minimum moving distance. The proposed method does not need post-processing steps and always provides the fast and stable solution. It also gives a unique solution, while rapidly exploring random tree algorithms do not guarantee same solution. We use the local search and the global search at the same time in order to get a more appropriate path. We validate the proposed method by simulations and the results show that the method is fast and effective for path planning.
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Recommended by Associate Editor Kang-Hyun Jo under the direction of Editor Fuchun Sun.
Won-Young Shin received his M.S. degree in Industrial Engineering from POSTECH University, Korea, in 2003. He is currently a senior researcher in Agency for Defense Development in Korea. His research interests include a mission planning, weapon modeling & simulation, combinatorial optimization.
Jong-Jin Shin received his M.S. degree in Mechanical Engineering from Stanford University, U.S.A., in 2003. He is currently a senior researcher in Agency for Defense Development in Korea. His research interests include a mission planning and target/background modeling & simulation.
Byung-Ju Kim received his M.S. and Ph.D. degrees in Electrical Engineering from Kyungpook National University, Korea, in 1999 and in 2007, respectively. He is currently a senior researcher in Agency for Defense Development in Korea. His research interests include a mission planning and target/background modeling & simulation.
Kwang-Rae Jeong received his M.S. degree in Electrical & Electronic Engineering from Yonsei University, Korea, in 2010. He is currently a researcher in Agency for Defense Development in Korea. His research interests include a mission planning and weapon modeling & simulation.
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Shin, WY., Shin, JJ., Kim, BJ. et al. Line segment selection method for fast path planning. Int. J. Control Autom. Syst. 15, 1322–1331 (2017). https://doi.org/10.1007/s12555-015-0261-2
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DOI: https://doi.org/10.1007/s12555-015-0261-2