A Time-Based Efficient Global Path Generation Method for Multiple Maneuvering Platforms in Ground MUM-T Operations

This paper proposes a time-based efficient global path generation method for multiple ground maneuvering platforms operating under a manned-unmanned teaming(MUM-T) framework. Using road-network information, the proposed method simultaneously generates (i) global routes connecting each platform’s start and target positions and (ii) corresponding time schedules for each route segment.By explicitly modeling the space-time occupancy of road segments during the search process, the proposed approach prevents simultaneous usage of the same road segments and produces collision-free trajectories. As a result, multiple platforms can reach their destinations while minimizing overall mission time and alleviating bottlenecks in constrained road networks.The effectiveness of the proposed algorithm is validated through simulation experiments conducted on a virtual two-dimensional map of a military training area located in Pocheon, Gangwon-do, Republic of Korea. The simulation results demonstrate that the proposed method successfully resolves conflicts caused by concurrent road usage and dynamically adapts to changes in mission conditions.The proposed technique is expected to serve as a core enabling technology for future ground MUM-T operations and next-generation battlefield combat systems.