Path Planning Method For Ground Unmanned Platform In Cross-country Environment

Compared with urban road,the operation condition of ground unmanned platform in off-road environment is uncertain and the coverage is complex and diverse.In order to make the ground unmanned platform run safely and perform tasks accurately and reliably,it is necessary to plan a reliable and safe driving path according to the independent decision-making of the surrounding environment,which requires exploring the path planning algorithm that takes into account the passing and safety of vehicles.Firstly,this paper proposes a shortest path planning algorithm for ground unmanned platform in off-road environment.Based on the classical ant colony algorithm,a three-dimensional planning space is established by using the method of three-dimensional map grid creation.The simulation results show that the algorithm can find a shortest path for unmanned platforms in off-road environments.Secondly,according to the characteristics of large fluctuations in the off-road environment,a path planning method for the ground unmanned platform in the off-road environment is proposed on the basis of the previous step.Its core is to put forward the classification method of ground unmanned platform trafficability.Based on the analysis of vehicle dynamics performance and the existing national standards,the environmental trafficability of unmanned platform is evaluated and the recommended speed under each classification is set.The trafficability classification and the recommended speed are integrated.An improved ant colony algorithm heuristic function is designed with the shortest passing time as the goal.The dynamic constraint is established with vehicle safety,and the optimization path considering traffic efficiency,trafficability and safety is obtained.Finally,multiple sets of simulations are carried out in the actual cross-country environment map,and the simulation results fully verify the effectiveness of the path planning method for the ground unmanned platform in the cross-country environment.