dc.contributor.author |
Gopal, Ajith K
|
|
dc.contributor.author |
Wium, Elsmari
|
|
dc.date.accessioned |
2020-03-19T07:51:40Z |
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dc.date.available |
2020-03-19T07:51:40Z |
|
dc.date.issued |
2019-08 |
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dc.identifier.citation |
Gopal, A.K. & Wium, E. 2019. Real time path planning for high speed UGVs. International Journal of Intelligent Systems Technologies and Applications, vol. 18(6), pp. 623-639 |
en_US |
dc.identifier.issn |
1740-8865 |
|
dc.identifier.issn |
1740-8873 |
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dc.identifier.uri |
DOI: 10.1504/IJISTA.2019.102669
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|
dc.identifier.uri |
https://www.inderscience.com/info/inarticle.php?artid=102669
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|
dc.identifier.uri |
http://hdl.handle.net/10204/11346
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|
dc.description |
Copyright: 2019 Inderscience Publishers. Due to copyright restrictions, the attached PDF file contains the abstract version of the full-text item. For access to the full-text item, please consult the publisher's website. The definitive version of the work is published in International Journal of Intelligent Systems Technologies and Applications, vol. 18(6), pp. 623-639 |
en_US |
dc.description.abstract |
The application of a modified A-star (A*) global search algorithm and trajectory planner based on the tentacles algorithm approach are investigated for real-time path and trajectory planning on an unmanned ground vehicle operating at a speed of 40 km/h. The fundamental assumption made is that for high speed applications, the requirement for an optimal path is secondary to the requirement for short processing times, provided that a solution, if it exists, is found. The proposed solution is benchmarked against the original A* algorithm and shows a reduction in search space of up to 84% and a reduction in processing time of up to 97%. Results for the trajectory planner are also presented, though no direct comparative evaluation against the original tentacles algorithm was executed. The combined path and trajectory processing time of the proposed solution translates to less than 2 mm of travel distance before a reaction to a change in the environment can be processed. |
en_US |
dc.language.iso |
en |
en_US |
dc.publisher |
Inderscience Publishers |
en_US |
dc.relation.ispartofseries |
Workflow;22888 |
|
dc.subject |
A-star |
en_US |
dc.subject |
Real-time |
en_US |
dc.subject |
Path planning |
en_US |
dc.subject |
Trajectory planning |
en_US |
dc.subject |
Unmanned ground vehicle |
en_US |
dc.subject |
UGV |
en_US |
dc.title |
Real time path planning for high speed UGVs |
en_US |
dc.type |
Article |
en_US |
dc.identifier.apacitation |
Gopal, A. K., & Wium, E. (2019). Real time path planning for high speed UGVs. http://hdl.handle.net/10204/11346 |
en_ZA |
dc.identifier.chicagocitation |
Gopal, Ajith K, and Elsmari Wium "Real time path planning for high speed UGVs." (2019) http://hdl.handle.net/10204/11346 |
en_ZA |
dc.identifier.vancouvercitation |
Gopal AK, Wium E. Real time path planning for high speed UGVs. 2019; http://hdl.handle.net/10204/11346. |
en_ZA |
dc.identifier.ris |
TY - Article
AU - Gopal, Ajith K
AU - Wium, Elsmari
AB - The application of a modified A-star (A*) global search algorithm and trajectory planner based on the tentacles algorithm approach are investigated for real-time path and trajectory planning on an unmanned ground vehicle operating at a speed of 40 km/h. The fundamental assumption made is that for high speed applications, the requirement for an optimal path is secondary to the requirement for short processing times, provided that a solution, if it exists, is found. The proposed solution is benchmarked against the original A* algorithm and shows a reduction in search space of up to 84% and a reduction in processing time of up to 97%. Results for the trajectory planner are also presented, though no direct comparative evaluation against the original tentacles algorithm was executed. The combined path and trajectory processing time of the proposed solution translates to less than 2 mm of travel distance before a reaction to a change in the environment can be processed.
DA - 2019-08
DB - ResearchSpace
DP - CSIR
KW - A-star
KW - Real-time
KW - Path planning
KW - Trajectory planning
KW - Unmanned ground vehicle
KW - UGV
LK - https://researchspace.csir.co.za
PY - 2019
SM - 1740-8865
SM - 1740-8873
T1 - Real time path planning for high speed UGVs
TI - Real time path planning for high speed UGVs
UR - http://hdl.handle.net/10204/11346
ER -
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en_ZA |