Jisoo Ahn, Sewoong Jung, Hansom Kim, Ho-Jin Hwang, Hong-Bae Jun
{"title":"A study on UCV path planning for collision avoidance with enemy forces in dynamic situations","authors":"Jisoo Ahn, Sewoong Jung, Hansom Kim, Ho-Jin Hwang, Hong-Bae Jun","doi":"10.1093/jcde/qwad099","DOIUrl":null,"url":null,"abstract":"Abstract This study focuses on the path planning problem for Unmanned Combat Vehicles (UCVs), where the goal is to find a viable path from the starting point to the destination while avoiding collisions with moving obstacles, such as enemy forces. The objective is to minimize the overall cost, which encompasses factors like travel distance, geographical difficulty, and the risk posed by enemy forces. To address this challenge, we have proposed a heuristic algorithm based on D* lite. This modified algorithm considers not only travel distance but also other military-relevant costs, such as travel difficulty and risk. It generates a path that navigates around both fixed unknown obstacles and dynamically moving obstacles (enemy forces) that change positions over time. To assess the effectiveness of our proposed algorithm, we conducted comprehensive experiments, comparing and analyzing its performance in terms of average pathfinding success rate, average number of turns, and average execution time. Notably, we examined how the algorithm performs under two UCV path search strategies and two obstacle movement strategies. Our findings shed light on the potential of our approach in real-world UCV path planning scenarios.","PeriodicalId":48611,"journal":{"name":"Journal of Computational Design and Engineering","volume":null,"pages":null},"PeriodicalIF":4.8000,"publicationDate":"2023-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Computational Design and Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1093/jcde/qwad099","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS","Score":null,"Total":0}
引用次数: 0
Abstract
Abstract This study focuses on the path planning problem for Unmanned Combat Vehicles (UCVs), where the goal is to find a viable path from the starting point to the destination while avoiding collisions with moving obstacles, such as enemy forces. The objective is to minimize the overall cost, which encompasses factors like travel distance, geographical difficulty, and the risk posed by enemy forces. To address this challenge, we have proposed a heuristic algorithm based on D* lite. This modified algorithm considers not only travel distance but also other military-relevant costs, such as travel difficulty and risk. It generates a path that navigates around both fixed unknown obstacles and dynamically moving obstacles (enemy forces) that change positions over time. To assess the effectiveness of our proposed algorithm, we conducted comprehensive experiments, comparing and analyzing its performance in terms of average pathfinding success rate, average number of turns, and average execution time. Notably, we examined how the algorithm performs under two UCV path search strategies and two obstacle movement strategies. Our findings shed light on the potential of our approach in real-world UCV path planning scenarios.
期刊介绍:
Journal of Computational Design and Engineering is an international journal that aims to provide academia and industry with a venue for rapid publication of research papers reporting innovative computational methods and applications to achieve a major breakthrough, practical improvements, and bold new research directions within a wide range of design and engineering:
• Theory and its progress in computational advancement for design and engineering
• Development of computational framework to support large scale design and engineering
• Interaction issues among human, designed artifacts, and systems
• Knowledge-intensive technologies for intelligent and sustainable systems
• Emerging technology and convergence of technology fields presented with convincing design examples
• Educational issues for academia, practitioners, and future generation
• Proposal on new research directions as well as survey and retrospectives on mature field.