DARPA . DARPA Announces subterranean (SubT) challenge final event site and date [EB/OL ] . [ 2021-07-01 ] . https://www.darpa.mil/news-events/2020-01-07 https://www.darpa.mil/news-events/2020-01-07 https://www.darpa.mil/news-events/2020-01-07.

全军武器信息采购网 . “跨越险阻2021”第四届陆上无人系统挑战赛赛事通知 [EB/OL ] . [ 2021-06-03 ] . http://www.weain.mil.cn/cggg/jdgg/1400087198603255810.shtml http://www.weain.mil.cn/cggg/jdgg/1400087198603255810.shtml http://www.weain.mil.cn/cggg/jdgg/1400087198603255810.shtml.

All army weapon information procurement network . Notice of the fourth "Crossing Obstacles 2021" land unmanned system challenge [EB/OL ] . [ 2021-06-03 ] . http://www.weain.mil.cn/cggg/jdgg/1400087198603255810.shtml http://www.weain.mil.cn/cggg/jdgg/1400087198603255810.shtml http://www.weain.mil.cn/cggg/jdgg/1400087198603255810.shtml. (in Chinese)

CARSTEN J , RANKIN A , FERGUSON D , et al. Global path planning on board the mars exploration rovers [C ] // Proceedings of 2007 IEEE Aerospace Conference. Big Sky, MT, US:IEEE , 2007 : 1 - 11 .

ISHIGAMI G , OTSUKI M , KUBOTA T . Range-dependent terrain mapping and multipath planning using cylindrical coordinates for a planetary exploration rover [J ] . Journal of Field Robotics , 2013 , 30 ( 4 ): 536 - 551 . DOI: 10.1002/rob.21462 http://doi.org/10.1002/rob.21462 https://onlinelibrary.wiley.com/doi/10.1002/rob.21462 https://onlinelibrary.wiley.com/doi/10.1002/rob.21462

LACROIX S , MALLET A , BONNAFOUS D , et al. Autonomous rover navigation on unknown terrains functions and integration [J ] . International Journal of Robotics Research , 2000 , 21 : 917 - 942 . DOI: 10.1177/0278364902021010841 http://doi.org/10.1177/0278364902021010841 http://journals.sagepub.com/doi/10.1177/0278364902021010841 http://journals.sagepub.com/doi/10.1177/0278364902021010841 Autonomous long-range navigation in partially known planetary-like terrains is still an open challenge for robotics. Navigating hundreds of meters without any human intervention requires the robot to be able to build various representations of its environment, to plan and execute trajectories according to the kind of terrain traversed, to control its motions and to localize itself as it moves. All these activities have to be scheduled, triggered, controlled and interrupted according to the rover context. In this paper, we briefly review some functionalities that have been developed in our laboratory, and implemented on board the Marsokhod model robot, Lama. We then present how the various concurrent instances of the perception, localization and motion generation functionalities are integrated. Experimental results illustrate the functionalities throughout the paper.

HOWARD T M , KELLY A . Optimal rough terrain trajectory generation for wheeled mobile robots [J ] . The International Journal of Robotics Research , 2007 , 26 ( 2 ): 141 - 166 . DOI: 10.1177/0278364906075328 http://doi.org/10.1177/0278364906075328 http://journals.sagepub.com/doi/10.1177/0278364906075328 http://journals.sagepub.com/doi/10.1177/0278364906075328 An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical linearization and inversion of forward models of propulsion, suspension, and motion for any type of vehicle. Efficiency is achieved by using fast numerical optimization techniques and effective initial guesses for the vehicle controls parameters. This approach can accommodate such effects as rough terrain, vehicle dynamics, models of wheel-terrain interaction, and other effects of interest. It can accommodate boundary and internal constraints while optimizing an objective function that might, for example, involve such criteria as obstacle avoidance, cost, risk, time, or energy consumption in any combination. The algorithm is efficient enough to use in real time due to its use of nonlinear programming techniques that involve searching the space of parameterized vehicle controls. Applications of the presented methods are demonstrated for planetary rovers.

COLAS F , MAHESH S , POMERLEAU F , et al. 3D path planning and execution for search and rescue ground robots [C ] // Proceedings of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Tokyo, Japan:IEEE , 2013 : 722 - 727 .

MENNA M , GIANNI M , FERRI F , et al. Real-time autonomous 3D navigation for tracked vehicles in rescue environments [C ] // Proceedings of 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. Chicago, IL, US:EEE , 2014 : 696 - 702 .

ARDIYANTO I , MIURA J . 3D time-space path planning algorithm in dynamic environment utilizing Arrival Time Field and Heuristically Randomized Tree [C ] // Proceedings of 2012 IEEE International Conference on Robotics and Automation. Saint Paul, MN, US:IEEE , 2012 : 187 - 192 .

ZHANG Q , WU X J , LIU B B , et al. A hierarchic-al topological planner for multi-storey buildi-ng navigation [C ] //Proceedings of 2015 IEEE International C-onference on Advanced Intelligent Mechatro-nics(AIM). Busan, Korea:IEEE , 2015 : 731 - 736 .

BALTASHOV I , SEMAKOVA A . Path planning inside multi-storey buildings: an algorithm for autonomous mobile robot [J ] . IFAC-Papers-OnLine , 2018 , 51 ( 22 ): 518 - 523 .

LIU Z H , LIU H B , LU Z G , et al. A dynamic fusion pathfinding algorithm using delaunay triangulation and Improved A-star for mobile robots [J ] . IEEE Access , 2021 , 99 : 1 - 1 .

HU J M , HU Y H , LU C , et al. Integrated path planning for unmanned differential steering vehicles in off-road environment with 3D terrains and obstacles [J ] . IEEE Transactions on Intelligent Transportation Systems , 2021 , 23 ( 6 ): 5562 - 5572 . DOI: 10.1109/TITS.2021.3054921 http://doi.org/10.1109/TITS.2021.3054921 https://ieeexplore.ieee.org/document/9345385/ https://ieeexplore.ieee.org/document/9345385/

ERKE S , DAI B , NIE Y M , et al. An improved A-star based path planning algorithm for autonomous and vehicles [J ] . International Journal of Advanced Robotic Systems , 2020 , 17 ( 5 ): 1729881420962263 .

夏娜 , 束强 , 赵青 , 等 . 基于维诺图和二分图的水面移动基站路径规划方法 [J ] . 自动化学报 , 2016 , 42 ( 8 ): 1185 - 1197 .

XIA N , SHU Q , ZHAO Q , et al . A path planning method for water surface mobile sink based on voronoi diagram and nipartite graph [J ] . Acta Automatica Sinica , 2016 , 42 ( 8 ): 1185 - 1197 . (in Chinese)

JENSEN-NAU K R , HERMANS T , LEANG K K . Near-optimal area-coverage path planning of energy-constrained aerial robots with application in autonomous environmental monitoring [J ] . IEEE Transactions on Automation Science and Engineering , 2020 , 18 ( 3 ): 1453 - 1468 . DOI: 10.1109/TASE.2020.3016276 http://doi.org/10.1109/TASE.2020.3016276 https://ieeexplore.ieee.org/document/9180271/ https://ieeexplore.ieee.org/document/9180271/

PINZI M , GALVAN S , BAENA F R . The adaptive hermite fractal tree (AHFT):a novel surgical 3D path planning approach with curvature and heading constraints [J ] . International Journal of Computer Assisted Radiology and Surgery , 2019 , 14 ( 4 ): 659 - 670 . DOI: 10.1007/s11548-019-01923-3 http://doi.org/10.1007/s11548-019-01923-3

SIDDIQI M R , MILANI S , JAZAR R N , et al. Ergonomic path planning for autonomous vehicles-an investigation on the effect of transition curves on motion sickness [J ] . IEEE Transactions on Intelligent Transportation Systems , 2021 , 99 : 1 - 12 .

王威 , 陈慧岩 , 马建昊 , 等 . 基于Frenet坐标系和控制延时补偿的智能车辆路径跟踪 [J ] . 兵工学报 , 2019 , 40 ( 11 ): 2336 - 2351 . DOI: 10.3969/j.issn.1000-1093.2019.11.019 http://doi.org/10.3969/j.issn.1000-1093.2019.11.019 对智能车辆路径跟踪问题中存在的控制延时问题进行研究。前轮转角表述为纯滞后和1阶惯性延时的串联结构模型，通过使用Matlab/Simulink建立转向控制延时模型，并对实车采集的转向控制数据进行分析，完成延时模型的参数辨识；基于V-REP和ROS搭建仿真测试平台，根据延时模型的辨识结果模拟转向响应特性，实现与实车转向特性等效的控制延时效果；基于Frenet坐标系和运动学、动力学模型构建不考虑控制延时和考虑控制延时的模型预测控制(MPC)路径跟踪控制器，使得控制器可以直接扩展到多车编队行驶场景；在V-REP仿真环境中设置以5 m/s、10 m/s、20 m/s车 速采集的变曲率参考路径，先针对无延时系统考察不考虑控制延时的MPC路径跟踪控制器，获得了平均跟踪误差低于0.22 m的控制效果，验证了不考虑控制延时的MPC控制器在处理无延时车辆系统路径跟踪问题的跟踪性能，再针对大延时车辆系统对比测试两种MPC控制器。试验结果表明：考虑控制延时的MPC控制器相比不考虑控制延时的MPC控制器取得了较大的效果提升，特别是在最大跟踪误差和航向误差指标上表现优异，平均跟踪误差降低了83.7%，最大跟踪误差降低了74.4%；对于高延时系统，低速工况下考虑延时的运动学MPC表现更好，而高速工况动力学MPC表现出了更加稳定的跟踪性能，20 m/s延时试验中仅考虑控制延时的动力学MPC控制器安全地跑完了全程。

WANG W , CHEN H Y , MA J H , et al . Path tracking for intelligent vehicles based on frenet coordinates and delayed control [J ] . Acta Armamentarii , 2019 , 40 ( 11 ): 2336 - 2351 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2019.11.019 http://doi.org/10.3969/j.issn.1000-1093.2019.11.019 The path tracking problem for intelligent vehicle with delayed control inputs is studied. The cramping angle is expressed as a series structure model with pure lag and first-order inertial delay, and a steering control delay model is established using Matlab/Simulink. The collected steering control data of an actual vehicle is analyzed for parameter identification of the proposed delay model.The equivalent delay performance in simulation environment based on V-REP and ROS is implemented. The model predictive control (MPC)-based path tracking controllers without or with considering delay control are designed based on Frenet coordinates, and the kinematic and dynamics models, which can also be used for marching vehicle formation. A curvature-variant reference paths collected at 5, 10 and 20 m/s are set in V-REP simulation environment. Three curvature-variant reference paths are presented. For the MPC path tracking controller without delay modeling, the average tracking error is less than 0.22 m for a vehicle platform without control delay. The MPC controllers with and without delay modeling are tested to compare their tracking performances for the vehicle system with long control delay. Simulated results indicate that the average and maximum tracking errors of MPC controller with delay modeling are 83.7% and 74.4% less than those of MPC controller without delay modeling when they are used on a vehicle with delayed control inputs. The kinematics-based MPC controller performs better at low speed, whereas the dynamics-based MPC controller performs better at high speed. Only dynamics-based MPC controller with delay modeling completed the whole test safely at 20 m/s on the vehicle with delayed control. Key

XU X L , WANG C L . Indoor navigation based on global and local path planning for wheeled mobile robot in airport [C ] //Proceedings of the 2018 13rd World Congress on Intelligent Control and Automation (WCICA). Changsha, China:IEEE , 2018 : 1002 - 1007 .

DOLGOV D . Practical search techniques in path planning for autonomous driving [J ] . Ann Arbor , 2008 , 1001 ( 48105 ): 18 - 80 .