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.
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收藏
页数：13
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