Unmanned vehicle real-time global path planning method based on dynamic window of safe A* guide point

A global path planning and dynamic window technology, which is applied in the direction of motor vehicles, vehicle position/route/height control, non-electric variable control, etc., can solve problems such as local minima, and achieve the effect of real-time global path planning and obstacle avoidance

Pending Publication Date: 2021-11-05
FUZHOU UNIV
View PDF13 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Global path planning usually assumes that the environmental information is completely known. Before the unmanned vehicle moves, a path from the starting point to the end point is calculated offline; local path planning can realize the obstacle detection online and in real time when the unmanned vehicle is moving. Avoidance; however, due to the lack of guidance of global path information in local path planning, it is often easy to fall into the local minimum situation

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Unmanned vehicle real-time global path planning method based on dynamic window of safe A* guide point
  • Unmanned vehicle real-time global path planning method based on dynamic window of safe A* guide point
  • Unmanned vehicle real-time global path planning method based on dynamic window of safe A* guide point

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0059] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0060] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0061] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinatio...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to an unmanned vehicle real-time global path planning method based on a dynamic window of a safety A* guide point. The method comprises steps that a node safety extension strategy and a path node quadratic optimization method are firstly provided on the basis of an A* algorithm, which are called as a safety A* algorithm, and an optimal safety virtual target point is rapidly found out through employing the safety A* algorithm; secondly, the virtual target point serves as a local target of a dynamic window method, speed sampling is conducted, path planning and obstacle avoidance are achieved, simulation is conducted in the MATLAB environment, the result shows that the unmanned vehicle can safely and stably avoid the obstacle under the guidance of the global path, and safety and stability of the method are verified.

Description

technical field [0001] The invention relates to the field of global path planning for real-time obstacle avoidance of unmanned vehicles, in particular to a real-time global path planning method for unmanned vehicles based on a dynamic window of safety A* guide points. Background technique [0002] Unmanned vehicle path planning is to plan the optimal driving trajectory for unmanned vehicles under the premise of comprehensively considering factors such as driving time, speed, fuel consumption and safety. In order to complete driving on complex roads, unmanned vehicles rely on their autonomous mobility. Path planning and navigation are the core algorithms to ensure the autonomous mobility of unmanned vehicles, and they are the key to reflecting the intelligence level of vehicles. [0003] From the perspective of the target range of path planning, it is usually divided into global path planning and local path planning; from the aspect of whether the planning environment changes...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0246G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0278G05D1/0276Y02T10/40
Inventor 张卫波黄绍斌陈慧鸿黄志鹏罗星封士宇
Owner FUZHOU UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap