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http://dx.doi.org/10.9766/KIMST.2016.19.6.779

An Approach to Global Path Replanning Method Considering 4D Environmental Information  

Kwak, Dong Jun (The 5th Research and Development Institute, Agency for Defense Development)
Shin, Jongho (The 5th Research and Development Institute, Agency for Defense Development)
Kim, Chong Hui (The 5th Research and Development Institute, Agency for Defense Development)
Publication Information
Journal of the Korea Institute of Military Science and Technology / v.19, no.6, 2016 , pp. 779-788 More about this Journal
Abstract
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.
Keywords
Unmanned Ground Vehicle; Path Planning; Global Path Replanning; Survivability;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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