Obstacle avoidance path planning algorithm for intelligent vehicles on structured road

被引：0

作者：

Wang, Jiaqi ^{[1
]}

Meng, Qinghua ^{[1
]}

Liu, Rong ^{[1
]}

Sun, Zong-Yao ^{[2
]}

机构：

[1] Hangzhou Dianzi Univ, Sch Mech Engn, Hanghzhou 310000, Zhejiang, Peoples R China

[2] Qufu Normal Univ, Inst Automat, Qufu, Peoples R China

来源：

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL | 2024年

基金：

中国国家自然科学基金;

关键词：

Obstacle avoidance path planning; third-order Bessel curve; quintic polynomial curve; lane keeping; curve fitting; RRT-ASTERISK;

D O I：

10.1177/01423312241265524

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming to address the obstacle avoidance issues of smoothness and real-time on structured roads for intelligent vehicles, a novel obstacle avoidance path planning algorithm is proposed which utilizes various curve fitting methods. The algorithm incorporates a cruise model that employs a third-order Bessel curve to splice sampled lane lines, generating cruise candidate paths. And in the lane change mode, quintic polynomial curves are used to generate lane change candidate paths. By simulation and experiment, the proposed obstacle avoidance algorithm is verified to be excellent in terms of obstacle avoidance and lane keeping in complex multi-obstacle scenarios on structured roads.

引用

页数：13

共 50 条

[1] Obstacle avoidance path planning of intelligent electric vehicles in winding road scene
Sheng, Peng-Cheng
Luo, Xin-Wen
Li, Jing-Pu
Wu, Xue-Yi
Bian, Xue-Liang
[J]. Jiaotong Yunshu Gongcheng Xuebao/Journal of Traffic and Transportation Engineering, 2020, 20 (02): : 195 - 204
[2] An Obstacle Avoidance Path Planning and Evaluation Method for Intelligent Vehicles Based on the B-Spline Algorithm
Zhang, Yulong
Wang, Pengwei
Cui, Kaichen
Zhou, Hengheng
Yang, Jinshan
Kong, Xiangcun
[J]. SENSORS, 2023, 23 (19)
[3] Obstacle Avoidance Path Planning Strategy for Autonomous Vehicles Based on Genetic Algorithm
Weng, Xiaofeng
Liu, Fei
Zhou, Sheng
Mai, Jiacheng
Feng, Shaoxiang
[J]. PROMET-TRAFFIC & TRANSPORTATION, 2024, 36 (04): : 733 - 748
[4] An Efficient End-to-End Obstacle Avoidance Path Planning Algorithm for Intelligent Vehicles Based on Improved Whale Optimization Algorithm
Wang, Chia-Hung
Chen, Shumeng
Zhao, Qigen
Suo, Yifan
[J]. MATHEMATICS, 2023, 11 (08)
[5] Smooth Obstacle Avoidance Path Planning for Autonomous Vehicles
Ben-Messaoud, Wael
Basset, Michel
Lauffenburger, Jean-Philippe
Orjuela, Rodolfo
[J]. 2018 IEEE INTERNATIONAL CONFERENCE ON VEHICULAR ELECTRONICS AND SAFETY (ICVES 2018), 2018,
[6] Obstacle Avoidance, Path Planning and Control for Autonomous Vehicles
Laghmara, Hind
Boudali, Mohamed-Taha
Laurain, Thomas
Ledy, Jonathan
Orjuela, Rodolfo
Lauffenburger, Jean-Philippe
Basset, Michel
[J]. 2019 30TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV19), 2019, : 529 - 534
[7] Intelligent Vehicle Obstacle Avoidance Trajectory Planning in Structured Road Based on Analytic Hierarchy Process
Zeng, Dequan
Yu, Zhuoping
Xiong, Lu
Fu, Zhiqiang
Zhang, Peizhi
[J]. Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science), 2020, 48 (07): : 65 - 75
[8] Path Planning and Predictive Control of Autonomous Vehicles for Obstacle Avoidance
Zhang, Duo
Chen, Bo
[J]. 2022 18TH IEEE/ASME INTERNATIONAL CONFERENCE ON MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS (MESA 2022), 2022,
[9] Target Tracking, Path Planning and Obstacle Avoidance by Intelligent Robot
Varma, Poornima N.
Vivek, A.
Pandi, Ravikumar, V
[J]. PROCEEDINGS OF 2017 INTERNATIONAL CONFERENCE ON TECHNOLOGICAL ADVANCEMENTS IN POWER AND ENERGY (TAP ENERGY): EXPLORING ENERGY SOLUTIONS FOR AN INTELLIGENT POWER GRID, 2017,
[10] A minimum-time obstacle-avoidance path planning algorithm for unmanned aerial vehicles
De Marinis, Arturo
Iavernaro, Felice
Mazzia, Francesca
[J]. NUMERICAL ALGORITHMS, 2022, 89 (04) : 1639 - 1661

← 1 2 3 4 5 →