RRT-based Path Planning Design for Securing Navigation Performance in GNSS-challenged Urban Environments

Traditional path planning methods that consider only general cost functions such as distance and power without addressing the performance limitations of satellite navigation in urban environments such as dense building areas can lead to operational risks due to decreased navigation reliability in unmanned systems. This paper proposes a path planning technique to ensure the performance of integrated navigation systems, including GNSS, in such environments. Accordingly, this study enhances existing RRT-based algorithms by integrating DOP constraints into a new path generation method. The proposed technique was validated through simulations and field experiments. Consequently, experimental data analysis demonstrated that the proposed method achieves an RMSE error level suitable for the operation of unmanned vehicles.