Unmanned ground vehicle for driving based global path is lateral avoidance path planning

Abstract

This paper is research about unmanned ground vehicle for path planning. based on global path to optimal path generating. The proposed algorithm was used to D* Lite and lateral avoidance algorithm. This algorithm used to global map and search obstacle. Presented safety avoidance path planning thought Velocity of autonomous vehicle. safety obstacle avoidance according to velocity. Current Autonomous vehicles are safety and reliable for driving research. In this paper, autonomous vehicle as a way of escaping the lateral avoidance D* Lite algorithm was used. according to the speed of the vehicle for optical lateral avoidance control for steering for the purpose of path generation. The proposed study is one of the driving research of the UGV to explore and avoid unknown obstacles on the unlimited path.