Abstract: Unmanned ground vehicles have been widely applied into logistics distribution these days. However, due to the security risk of UGV (Unmanned Ground Vehicle) and the unsound law, the ROW (Right of Way) of unmanned vehicles should be allocated reasonably. This paper aims to solve the UGV distribution path planning problem from the angle of ROW distribution. The paper first distributes the ROW of UGV. Based on the ROW distributed, an UGV routing problem model is proposed. A solution is also provided based on ant colony algorithm. The core of the solution is to achieve real-time path planning for UGV by updating the road resistance matrix of urban road network in real time. This paper also presents an urban road resistance calibration method combining static and dynamic road resistance. In order to make the real time path planning more accurate, the road resistance calibration method is divided into two grades: road level and lane level. Finally, a practical example is given to illustrate the feasibility and effectiveness of the method presented. Key Words: Right of Way, Unmanned Ground Vehicle, Path Planning, Road Resistance

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