Fast Route Planner Considering Terrain Information

Abstract

Route planning considering terrain information is useful for the navigation of autonomous ground vehicles (AGV) on complicated terrain surfaces, such as mountains with rivers. For instance, an AGV in mountains cannot cross a river or a valley that is too steep. This article addresses a novel route-planning algorithm that is time-efficient in building a sub-optimal route considering terrain information. In order to construct a route from the start to the end point in a time-efficient manner, we simulate two virtual vehicles that deploy virtual nodes iteratively, such that the connected node network can be formed. The generated node network serves as a topological map for a real AGV, and we construct the shortest route from the start to the end point utilizing the network. The route is weighted considering the route length, the steepness of the route, and the traversibility of the route. Through MATLAB simulations, we demonstrate the effectiveness of the proposed route-planning algorithm by comparing it with RRT-star planners.