Static obstacle avoidance path planning calculation method for unmanned motorcycle

A path planning and calculation method technology, applied in road network navigator, vehicle position/route/height control, instruments, etc., can solve the problems of not being able to reach online planning, slow convergence speed, low real-time performance, etc., and reduce operation time, ensure safety, and prevent accidental collisions

Active Publication Date: 2019-07-19
TSINGHUA UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0005] At present, the widely used traditional path planning algorithm is the A* (A star) algorithm. Its disadvantage is that there are a large number of unnecessary redundant calculations, and the real-time performance is not high, which is far from meeting the requirements of online planning.
Another widely studied method is the RRT (Rapidly-exploring Random Trees) method. The disadvantage is that due to the random strategy, the path smoothness is poor, and a large number of unnecessary random tree expansion nodes are generated to cause convergence. The speed is slow, which is also not conducive to occasions with high real-time requirements

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  • Static obstacle avoidance path planning calculation method for unmanned motorcycle
  • Static obstacle avoidance path planning calculation method for unmanned motorcycle
  • Static obstacle avoidance path planning calculation method for unmanned motorcycle

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Embodiment Construction

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0031] First of all, the technical solutions of the prior art and the defects in the technical solutions are described below.

[0032] 1) Heuristic traditional path planning method

[0033] The A* algorithm is a graph search method. The A* algorithm needs to be used in a discrete grid map. In the basic A* algorithm, follow the steps below for global path planning:

[0034] Step 1: Put the initial node into the open list;

[0035] Step 2: If there is no node in the open list, path exploration fails. Otherwise proceed to the nex...

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Abstract

The invention discloses a static obstacle avoidance path planning method for an unmanned motorcycle. The method comprises the following steps: building an equilibrium kinetic model and a kinematic model of an unmanned motorcycle; acquiring an access connecting an initial node with a target node on a grid map by using an adaptive resolution A* algorithm; combining the equilibrium kinetic model withthe kinematic model, pruning the access by using an RRT algorithm, and generating a path which can be executed by the unmanned motorcycle. The method disclosed by the invention shows an environment at different levels by adopting a low-precision map, a historical path and historical map pruning technique is adopted, run time of the algorithm is greatly reduced, demand on real time performance inpath planning is realized, and the method can relatively quickly adapt to the environment when the environment changes, so that the method can be expanded to be a dynamic obstacle avoidance algorithm.

Description

technical field [0001] The invention relates to the technical field of intelligent decision-making planning and control execution of unmanned vehicles, in particular to a static obstacle avoidance path planning calculation method for unmanned motorcycles. Background technique [0002] With the increasing demand for transportation, driving has become an essential skill in daily life, and it also takes up a lot of people's time. It is foreseeable that there will be a large number of driving jobs in the future. All kinds of automobile manufacturers and universities expect to develop unmanned driving that can adapt to most road conditions within a few years. And unmanned motorcycles are a relatively new field in unmanned driving, capable of more flexible movements. As a special configuration robot, motorcycle has the characteristics of high speed, low noise and good passability in the field. Its unmanned robot has broad application prospects in various fields. [0003] Percept...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01C21/34
CPCG01C21/3446G05D1/0214G05D1/0221G05D1/0223G05D1/0276G05D2201/02
Inventor 田宇陈章梁斌王乐天杨君
Owner TSINGHUA UNIV
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