Akademik Veri Yönetim Sistemi
ICNES 2025, Siirt, Türkiye, 20 - 21 Aralık 2025, ss.11, (Özet Bildiri)
An enhanced A*-based path planning method is described in this research to provide safe and efficient navigation of unmanned ground vehicles (UGVs) in complex off-road environments. The study overcomes the limitation of the conventional A* algorithm to handle irregular terrains by introducing a multi-layer environmental representation, a 24-neighborhood search strategy, and task-prioritized cost functions considering time efficiency, safety, and path smoothness. The environment is represented by a grid-based map that combines terrain traversability, elevation information, and risk regions so that the planner can consider heterogeneous ground conditions and dangerous areas. The proposed method is put into practice and tested via simulation studies in the MATLAB environment.The outcome is that the enhanced A* method generates smoother and more terrain-adaptive paths than the traditional grid-based planning methods, which is very powerful evidence for the use of the method in navigation of unmanned vehicles in complex terrain solutions.