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Vehicle path planning method adopting hybrid potential field ant colony algorithm

A technology of ant colony algorithm and vehicle routing, applied in calculation, calculation model, road network navigator, etc., can solve the problems of search randomness and easy stagnation, reduce blindness and randomness, avoid stagnation, and improve path search efficiency effect

Active Publication Date: 2019-12-03
JIANGSU UNIV
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AI Technical Summary

Problems solved by technology

The ant colony algorithm adopts parallel operation and positive feedback mechanism, which has strong search ability and good robustness. It is a relatively mature path planning algorithm, but it has the disadvantages of randomness, blindness and easy stagnation in the search at the initial stage of operation. The present invention proposes a mixed potential field - Ant colony algorithm, based on the ant colony algorithm, the heuristic information function of the virtual potential field is introduced, and the influence of the road surface adhesion coefficient and vehicle speed on the path planning is fully considered when the ant colony algorithm is used in the path planning process, and the advantages of the two algorithms are brought into play , to effectively avoid the randomness, blindness and stagnation of the search

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  • Vehicle path planning method adopting hybrid potential field ant colony algorithm
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  • Vehicle path planning method adopting hybrid potential field ant colony algorithm

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Embodiment Construction

[0067] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0068] The present invention provides a vehicle path planning method using mixed ant colony-improved potential field algorithm, such as figure 1 shown, including the following steps:

[0069] Step 1: Obtain vehicle self and environment information.

[0070] The information of the vehicle itself and the environment is obtained through millimeter-wave radar and CCD industrial cameras. There are four millimeter-wave radars, one of which is placed in the middle of the front bumper of the vehicle, and the other two are placed between the front and rear doors on both sides. The middle position of the vehicle, the last one is placed at the rear of the vehicle, which is used to detect the obstacle information in the four directions of the vehicle and transmit it to the electronic control unit ECU. The CCD industrial camera is installed above the top...

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Abstract

The invention discloses a vehicle path planning method adopting a hybrid potential field-ant colony algorithm. The method comprises the steps that 1, vehicle information and environment information are acquired; 2, through analysis of the vehicle information and the environment information, a virtual potential field force currently borne by a vehicle is obtained, and an improved vehicle virtual potential field force model is established; 3, relevant parameters of the ant colony algorithm are initialized; 4, at an initial stage of path planning, an improved virtual potential field resultant force is introduced into the ant colony algorithm to serve as a heuristic information function, a weight coefficient is introduced, and a transition probability function of the ant colony algorithm is improved; 5, along with deepening of obstacle avoidance path planning, pheromone concentration and distance inspiration jointly play a role, the action of improving the potential field resultant force is lowered gradually, and the improved ant colony algorithm is used for performing path planning; and 6, an electronic control unit controls vehicle speed and a turning angle of a steering wheel according to a path planned in the steps 4 and 5. Through the method, stagnation of a path search process is effectively avoided, and path search efficiency is improved.

Description

technical field [0001] The invention relates to an integrated algorithm of path planning and executive mechanism control decision-making under complex dynamic working conditions, and belongs to the technical field of path planning. Background technique [0002] With the continuous development of science and technology, the environment faced by path planning technology will become more complex and changeable. This requires the path planning algorithm to have the ability to quickly respond to complex environmental changes. The ant colony algorithm adopts parallel operation and positive feedback mechanism, which has strong search ability and good robustness. It is a relatively mature path planning algorithm, but it has the disadvantages of randomness, blindness and easy stagnation in the search at the initial stage of operation. The present invention proposes a mixed potential field - Ant colony algorithm, based on the ant colony algorithm, the heuristic information function o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34G06N3/00
CPCG01C21/3446G01C21/3492G06N3/006
Inventor 袁朝春魏悦何友国孙晓强张厚忠
Owner JIANGSU UNIV
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