| Mission Oriented Global Path Generation for Unmanned Combat Vehicle Based on the Mission Type and Multiple Grid Maps |
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Ho-Joo Lee, Young-Il Lee, Myung-Chun Lee |
| 임무유형과 다중 격자지도 기반의 임무지향적 전역경로 생성 연구 |
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이호주, 이영일, 이명천 |
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국방과학연구소 |
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| Abstract |
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In this paper, a global path generation method is suggested using multiple grid maps connected with the mission type of unmanned combat vehicle(UCV). In order to carry out a mission for UCV, it is essential to find a global path which is coincident with the characteristics of the mission. This can be done by considering various combat circumstances represented as grid maps such as velocity map, threat map and communication map. Cost functions of multiple grid maps are linearly combined and normalized to them simultaneously for the path generation. The proposed method is realized using $A^*$, a well known search algorithm, and cost functions are normalized in the ratio of the traverse time which is one of critical information should be provided with the operators using the velocity map. By the experiments, it is checked found global paths match with the mission type by reflecting input data of grid maps properly and the computation time is short enough to regenerate paths in real time as combat circumstances change. |
| Key Words:
Robot, Unmanned Combat Vehicle, Global Path, Mission Type, Path Planning, $A^*$ |
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