Research on Optimal Path Planning with Constraints Based on GIS

According to the requirements of unmanned ground vehicle(UGV) autonomous navigation, an implementation method was proposed for path optimization with given task points as constraints. Firstly, a geographic information system (GIS) database was built based on the GIS platform to provide priori information for UGV. And then a road-matching algorithm was designed based on the computational geometry. Simultaneously the static and dynamic path planning was conducted combining with A^* algorithm. Secondly, a new crossroads model was proposed according to the movement characteristics of UGV and the demand in recognizing the intersection. An algorithmic design for the intersection tracks and U-turn tracks was conducted to smooth the UGV's driving routes and to ensure the accuracy of intersection recognition. At last, a dynamic re-planning driving strategy was put forward. The validity of designed algorithm was verified by actual car experiments.