Autonomous Motion of Unmanned Ground Vehicles in General Environment

Abstract: This paper deals with an optimal path-finding algorithm in a real general environment. This algorithm is designed for automatic motion and movement of unmanned ground vehicles. Importance of this problem solution is connected with the wide application of unmanned vehicles in modern armies. The article is divided into three basic parts and covers a general discussion of the problem, definition of basic principles of our optimal path-finding algorithm, an issue of optimum maneuver in a general environment on a local and global level, and a mathematical design for our algorithm. Key words: optimal path-finding algorithm, unmanned vehicles, autonomous motion, area reconstruction