公开(公告)号：US12242286B1

公开(公告)日：2025-03-04

申请号：US18808657

申请日：2024-08-19

Applicant: Beijing Institute of Technology

Inventor： Shida Nie ,  Yujia Xie ,  Zhihao Liao ,  Hui Liu ,  Lijin Han ,  Congshuai Guo

IPC: G06V10/50 ,  G05D1/246 ,  G05D1/644 ,  G06V20/13 ,  G05D107/30

Abstract: Provided are a method, system and device for global path planning for an unmanned vehicle in an off-road environment. The method includes: obtaining satellite elevation data and a satellite remote sensing image of a current off-road environment; constructing a digital elevation model (DEM); determining slope and land surface relief of each grid in the current off-road environment; performing gray processing on the satellite remote sensing image to obtain grayscale values of the grids; determining traversal costs of the grids corresponding to different ground types; constructing a global grid map based on the slope and the land surface relief of each grid, as well as the traversal costs corresponding to the different ground types; determining a rugged terrain potential field and path costs; and searching for paths using a Bresenham's line algorithm and Theta* algorithm based on the rugged terrain potential field and the path costs, to generate a global path.