TY - GEN
T1 - An Improved Hierarchical Path Planning Method for Land-Air Amphibious Vehicle Based on Modal Characteristics
AU - Wang, Yujie
AU - Xu, Bin
AU - Fan, Wei
AU - Xu, Tao
AU - Liu, Longlong
AU - Sun, Han
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - The Land-Air Amphibious Vehicle has the advantages of high maneuverability in the air and energy saving on the ground, playing an important role in reconnaissance, disaster relief and other tasks. Successfully completing tasks requires vehicles to have autonomous navigation capabilities, among which good path planning methods are necessary. Therefore, we propose a hierarchical planning method for the Land-Air Amphibious Vehicle which fully utilizes the modal characteristics, including modifying constraint parameters for air modes and adding terrain parameters for ground modes. The results show that the improved planning method has faster speed and shorter time, better air mobility and ground traversability.
AB - The Land-Air Amphibious Vehicle has the advantages of high maneuverability in the air and energy saving on the ground, playing an important role in reconnaissance, disaster relief and other tasks. Successfully completing tasks requires vehicles to have autonomous navigation capabilities, among which good path planning methods are necessary. Therefore, we propose a hierarchical planning method for the Land-Air Amphibious Vehicle which fully utilizes the modal characteristics, including modifying constraint parameters for air modes and adding terrain parameters for ground modes. The results show that the improved planning method has faster speed and shorter time, better air mobility and ground traversability.
KW - air mobility
KW - ground traversability
KW - hierarchical path planning
KW - the Land-Air Amphibious Vehicle
UR - http://www.scopus.com/inward/record.url?scp=85218036405&partnerID=8YFLogxK
U2 - 10.1109/ICUS61736.2024.10839833
DO - 10.1109/ICUS61736.2024.10839833
M3 - Conference contribution
AN - SCOPUS:85218036405
T3 - Proceedings of 2024 IEEE International Conference on Unmanned Systems, ICUS 2024
SP - 225
EP - 230
BT - Proceedings of 2024 IEEE International Conference on Unmanned Systems, ICUS 2024
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE International Conference on Unmanned Systems, ICUS 2024
Y2 - 18 October 2024 through 20 October 2024
ER -