Title: A global path planning manner for unmanned ground vehicles in off-road situations based on terrain data

Authors: Xu Li; Sen Liu; Jianchun Wang

Addresses: College of Transportation, Shandong University of Science and Technology, Qingdao, 266590, China ' College of Transportation, Shandong University of Science and Technology, Qingdao, 266590, China ' College of Transportation, Shandong University of Science and Technology, Qingdao, 266590, China

Abstract: To address safe path planning for unmanned ground vehicles (UGVs) in off-road environments, this study proposes a global terrain-data-driven method integrating risk assessment and kinematic constraints. A 3D grid map is established to quantify terrain risks (e.g., slopes, obstacles), while vehicle passability and speed constraints define traversable regions. A comprehensive cost model evaluates navigation risks, energy consumption, and motion stability. An enhanced A* algorithm, incorporating a multi-objective cost function, generates optimal paths, further smoothed via Bézier curves to ensure kinematic feasibility. Simulations demonstrate that the proposed method effectively balances risk avoidance and path efficiency, outperforming conventional approaches in minimising traversal costs while maintaining smooth trajectories. Results validate its capability to support UGV navigation in complex off-road scenarios, providing a framework adaptable to dynamic environments. This work advances terrain-aware planning systems with implications for autonomous robotics and intelligent transportation.

Keywords: UGV; unmanned ground vehicle; off-road scenario risk characteristics; digital elevation model; integrated cost function; global path planning.

DOI: 10.1504/IJHVS.2025.150213

International Journal of Heavy Vehicle Systems, 2025 Vol.32 No.6, pp.823 - 847

Received: 14 Feb 2025
Accepted: 22 Mar 2025
Published online: 03 Dec 2025 *

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