Cooperative path planning for intelligent vehicle using unmanned air and ground vehicles

Abstract

This paper focus on the intelligent vehicle path planning issue using cooperation between Unmanned aerial vehicle (UAV) and Unmanned ground vehicle (UGV). For the UGV’s path planning problem in the cooperative system, the theory of traditional Artificial Potential Field (APF) was analyzed, and an algorithm for the intelligent vehicle was presented. The proposed algorithm allows the intelligent vehicle to navigate through obstacles, and finding a path which can reach the target without collision. The novelty of the algorithm is that directly establish the function model of repulsive and attractive force, and redefine the local minimum point to solve the problem of local minimum point. The proposed algorithm was illustrated with MATLAB, as a result, a safe and feasible path can be generated which can ensure the intelligent vehicle reach the target smoothly.