Path Planning for UGVs Based on Traversability Hybrid A*

In this letter, a new method of path planning for unmanned ground vehicles (UGVs) on terrain is developed. For UGVs moving terrain, traversability and collision avoidance are important factors. If not considered, the planned may lead UGV into areas that will cause rough vehicle motion or to getting stuck if low. The proposed based Hybrid A* algorithm uses estimated find optimizes both distance UGV. demonstrated using simulated maps compared original algorithm. also verified through real-time experiments in real further demonstrating benefits optimization method. experiments, was successfully applied autonomous driving over distances up 270 m terrain. Compared with existing method, produces more traversable paths.