A method for constructing a global motion path and planning a route for a self-driving vehicle

Abstract The article presents methods for constructing an unmanned vehicle (UV) motion path in an environment with obstacles to solve the problem of finding a path for a non-holonomic vehicle in an environment with obstacles. A combined approach is described and individual components are considered that allow solving the problem of planning a path for a non-holonomic vehicle. The practical use example of the combined approach for solving the problem of planning the UV path is given.