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Path Planning for an Unmanned Ground Vehicle Traversing Rough Terrain with Unknown Areas

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Automation 2017 (ICA 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 550))

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Abstract

In this paper we tackle the problem of planning a path for a ground vehicle in rough terrain, which is perceived and modelled in an imperfect way. The imperfectness, manifesting itself as unknown areas decreases the efficiency of motion planning, as the unknown terrain has to be treated as non-traversable. We demonstrate that it is possible to employ relatively simple image inpainting algorithms to substitute the missing elevation values in the terrain map, and to embed the terrain discontinuity filling procedure in an efficient path planner. We show reliable filling-in of discontinuities in various elevation maps, and then demonstrate gains in path planning efficiency due to integration between the discontinuity filling procedure and the path planner.

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Authors and Affiliations

  1. Institute of Control and Information Engineering, Poznań University of Technology, ul. Piotrowo 3A, 60-965, Poznań, Poland

    Piotr Skrzypczyński

Authors
  1. Piotr Skrzypczyński
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Correspondence to Piotr Skrzypczyński .

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Editors and Affiliations

  1. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Roman Szewczyk

  2. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Cezary Zieliński

  3. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Małgorzata Kaliczyńska

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Skrzypczyński, P. (2017). Path Planning for an Unmanned Ground Vehicle Traversing Rough Terrain with Unknown Areas. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2017. ICA 2017. Advances in Intelligent Systems and Computing, vol 550. Springer, Cham. https://doi.org/10.1007/978-3-319-54042-9_29

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  • DOI: https://doi.org/10.1007/978-3-319-54042-9_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-54041-2

  • Online ISBN: 978-3-319-54042-9

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