Vehicle path planning method based on storage unmanned vehicle
A vehicle path and local path planning technology, applied in vehicle position/route/height control, motor vehicles, two-dimensional position/channel control, etc., can solve the problem of inability to solve optimization and obstacle avoidance at the same time, difficult positioning, flexible Poor performance and other problems, achieve the effect of short running distance, optimize topology nodes, and improve work efficiency
Inactive Publication Date: 2017-08-11
NANJING UNIV OF SCI & TECH
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The invention discloses a vehicle path planning method based on a storage unmanned vehicle. The method comprises steps of firstly determining the operation node of an unmanned vehicle in a storage environment, and making a topological map based on the environment; then through the improvement of the traditional A* algorithm, calculating the shortest path from a starting point to a target point of the unmanned vehicle in an offline way; in the process of tracking the path of the unmanned vehicle, detecting whether there are obstacles on the path by a self-brought sensor, if there are obstacles and the obstacles do not completely obstruct the path, then switching to the artificial potential field method to perform online real-time obstacle avoidance; and if the obstacles completely obstruct the path, switching to the A* algorithm to replan the path until the unmanned vehicle reaches the target point. This method not only can make full use of known information to generate the global optimal path, but also can effectively avoid the random moving obstacle on the path.
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