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Title: Unmanned ground vehicle (UGV) path planning in 2.5D and 3D
Authors: Ennasr, Osama
Ellison, Charles C.
Netchaev, Anton D.
Soylemezoglu, Ahmet
Glaspell, Garry P.
Keywords: Autonomous vehicles
Path planning
Three-dimensional modeling
Vehicles, Military
Publisher: Engineer Research and Development Center (U.S.)
Series/Report no.: Technical Report (Engineer Research and Development Center (U.S.)) ; no. ERDC TR-23-12
Abstract: Herein, we explored path planning in 2.5D and 3D for unmanned ground vehicle (UGV) applications. For real-time 2.5D navigation, we investigated generating 2.5D occupancy grids using either elevation or traversability to determine path costs. Compared to elevation, traversability, which used a layered approach generated from surface normals, was more robust for the tested environments. A layered approached was also used for 3D path planning. While it was possible to use the 3D approach in real time, the time required to generate 3D meshes meant that the only way to effectively path plan was to use a preexisting point cloud environment. As a result, we explored generating 3D meshes from a variety of sources, including handheld sensors, UGVs, UAVs, and aerial lidar.
Description: Technical Report
Gov't Doc #: ERDC TR-23-12
Rights: Approved for Public Release; Distribution is Unlimited
Appears in Collections:Technical Report

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