ArcNav: Real-Time Curvature Based Map-Free Path Planning in Unstructured Environments for Unmanned Ground Vehicles

Date

2025-01-01

Author

Besir, Meliksah
Alkan, Ahmet Hamdi
Ulusoy, Kaan Berke
Konukseven, Erhan İlhan
Canbolat, Ismail Melih

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Autonomous navigation in unstructured environments remains a fundamental challenge in robotics, particularly for skid-steer unmanned ground vehicles (UGVs), which must operate in unpredictable and dynamically changing terrains. This paper introduces ArcNav, a novel realtime, map-free path planning algorithm that enables UGVs to maneuver efficiently in unstructured environments without relying on precomputed maps. Inspired by Dubins and ReedsShepp curves, ArcNav dynamically adjusts turning radii based on real-time environmental conditions, optimizing both trajectory smoothness and energy efficiency.

URI

https://hdl.handle.net/11511/118114

DOI

https://doi.org/10.1109/mmar65820.2025.11150882

Conference Name

29th International Conference on Methods and Models in Automation and Robotics-MMAR-Annual

Collections

Department of Mechanical Engineering, Conference / Seminar

Citation Formats

M. Besir, A. H. Alkan, K. B. Ulusoy, E. İ. Konukseven, and I. M. Canbolat, “ArcNav: Real-Time Curvature Based Map-Free Path Planning in Unstructured Environments for Unmanned Ground Vehicles,” presented at the 29th International Conference on Methods and Models in Automation and Robotics-MMAR-Annual, Miedzyzdroje, Polonya, 2025, Accessed: 00, 2025. [Online]. Available: https://hdl.handle.net/11511/118114.