Unmanned ground vehicle path planning method based on improved dynamic window method

Abstract

The invention discloses an unmanned ground vehicle path planning method based on an improved dynamic window method, and the method comprises the steps: constructing a grid map according to the position and environment of an unmanned ground vehicle, and setting a starting point and an ending point of a global path in the grid map; according to the constructed grid map and the starting point longitude and latitude and the terminal point longitude and latitude of the global path, using an A-Star algorithm for global path planning, and obtaining a global path and n front and back turning points in the global path, wherein n is larger than or equal to 1; sequentially taking every two adjacent positions in n+2 positions including the starting point of the global path, the n front and back turning points and the ending point of the global path as the starting point and the ending point of one local path to form n+1 local paths; and repeatedly performing local path planning on the n+1 local paths in sequence by using an improved dynamic window method so as to complete path planning of the unmanned ground vehicle. According to the technical scheme, a short and smooth global path can be planned for the driving of the unmanned ground vehicle, the path planning time is short, and the application prospect is wide.

Description

technical field [0001] The invention belongs to the technical field of path planning for unmanned ground vehicles, and relates to a path planning method for unmanned ground vehicles combining global path planning and local path planning, in particular to a path planning method for unmanned ground vehicles based on an improved dynamic window method. Background technique [0002] An unmanned ground vehicle is a ground mobile mechanized device that can drive autonomously or be operated by remote control. Path planning is one of the key technologies for unmanned ground vehicles to realize autonomous driving. It can plan an optimized driving route for unmanned ground vehicles from the starting point to the end point. [0003] With the progress of society and the development of science and technology, unmanned ground vehicles have begun to be used in industry, military, fire protection, transportation and other fields to assist people in completing dangerous, routine and repetitiv...

AI Technical Summary

Problems solved by technology

The advantage of the dynamic window method is that the computational complexity is low and the planned path is smoother. The disadvantage is that the planned path length is longer and the path planning time is longer.

[0007] In order to overcome the deficiencies of the prior art in the technical field, that is: the planned path length is longer, the path is not smooth enough, and the path planning time is long, the present invention organically performs the dynamic window method (DWA) with the A-Star algorithm after improving the dynamic window method (DWA). Combined, an unmanned ground vehicle path planning method based on the improved dynamic window method (referred to as the A-Star-DWA method)

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