Autonomous Decision-Making of Path Re-planning for UGV
Authors: 
Ning Li, Huachao Yu, Liang Zhou, Wen Cheng, XiJun Zhao, Bo SuAuthors Info & Claims
Ning Li, Huachao Yu, Liang Zhou, Wen Cheng, XiJun Zhao, Bo SuAuthors Info & ClaimsPages 258 - 264
Abstract
A novel approach of autonomous decision-making of path re-planning for UGV is proposed when encountering the blocked road. The system includes a global route planner and a local path planner. Based on prior information in known environment, a topological map is built first to describe connectivity of roads. The global route planner does path planning or re-planning based on the topological map to generate the global route. According to the route, A* search algorithm combined with model predictive control is used for local path planning and judgment on the blocked road. The complete autonomous decision-making process includes: judgment of the local blocked road, reversing to the fork/intersection road node, the global route re-planning and detour through the blocked road. Experiments show that in known dynamic environment, the proposed approach can effectively solve the problem of path re-planning in order to improve the autonomous traffic performance for UGV.
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Published In
November 2020
288 pages
ISBN:9781450388597
DOI:10.1145/3449301
Copyright © 2020 ACM.
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Association for Computing Machinery
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Published: 09 June 2021
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ICRAI 2020
ICRAI 2020: 2020 6th International Conference on Robotics and Artificial Intelligence
November 20 - 22, 2020
Singapore, Singapore
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