A Global Path Planning System using Local Navigation Strategies

In an obstacle filled environment, path planning solutions that use accurate Global Positioning System (GPS) coordinates of obstacles need to reconsider the inaccuracies of positioning when the differential GPS is not available. Typical GPS positioning systems operating without the differential component, are able to provide a default Central Error Probability (CEP) of only 10m. It is not always possible to install additional differential beacons in unexplored territory to reduce that error. This paper presents a path-planning algorithm and a novel global navigation strategy for autonomous unmanned ground vehicles (AUGV) in an unstructured terrain. An introduction of the AUGV architecture provides the basis for which the novel strategy is used to navigate through a global environment. It is able to chart a path along roadways and off-road terrain