| An Approach to Global Path Replanning Method Considering 4D Environmental Information |
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Dong Jun Kwak, Jongho Shin, Chong Hui Kim |
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The 5th Research and Development Institute, Agency for Defense Development |
| 4D 환경정보를 반영한 광역 경로수정계획 기법에 관한 연구 |
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곽동준, 신종호, 김종희 |
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국방과학연구소 제5기술연구본부 |
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| Abstract |
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In this paper, a global path replanning method is proposed in order to plan a global path minimizing the risk of the unmanned vehicle on the battlefield. We first introduce 4D environmental information consisting of mobility, visibility, kill, and hit attributes, and a unified threat map and a mobility map are defined by the four attributes. Using the mobility map, the unmanned vehicle can find the shortest path on the traversable area. And then taking into account the deterrent according to the type of the unmanned vehicle on the integrated threat map, the vehicle can generate a route to suppress or avoid the threat of enemy as well. Moreover, we present a waypoints bypassing method to exclude unnecessary waypoints rather than the mission point when planning paths for the multiple waypoints. |
| Key Words:
Unmanned Ground Vehicle, Path Planning, Global Path Replanning, Survivability |
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