Unlock instant, AI-driven research and patent intelligence for your innovation.

An improved unmanned vehicle fast search random tree path planning method

A path planning, unmanned vehicle technology, applied in vehicle position/route/altitude control, motor vehicle, two-dimensional position/channel control, etc. Directly Followable Path Effects

Active Publication Date: 2021-07-20
TONGJI UNIV
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] But it also has some obvious defects: the randomness of the algorithm will lead to the existence of more redundant nodes, and the generated path is not a smooth path, which cannot be directly followed by an agent with non-holonomic constraints
Real-time motion planning with applications to autonomous urban driving.IEEE Transactions on Control Systems Technology, v17, n 5, p 1105-1118, Sep.2009.) introduces a Dubins path, but because it is spliced ​​by straight lines and arcs Generate a path, so the resulting path curvature is discontinuous and cannot be followed by an unmanned vehicle

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
  • An improved unmanned vehicle fast search random tree path planning method
  • An improved unmanned vehicle fast search random tree path planning method
  • An improved unmanned vehicle fast search random tree path planning method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0039] The present invention provides a two-way pruning optimization RRT path planning algorithm based on non-holonomic constraints of unmanned vehicles, which specifically includes the following steps:

[0040] S1: Use the RRT algorithm to search for a path:

[0041] Such as figure 1 The schematic diagram of the node extension of the RRT algorithm is shown. The algorithm takes the starting point as the root node, generates a sampling node uniformly and randomly each time, and selects the point closest to it on the tree. From this point to the direction of the sampling point, follow a fixed step Long expand the next node, and repeat the above process until the target node is added to the tree, and a path from the start point to the end point is found.

[0042] In the obstacle environment, the path generated by using the above RRT planning algorithm is as follows: figure 2 shown. figure 2 , the black bar area is the obstacle space, the white area is the free space, the dot...

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 improved unmanned vehicle rapid search random tree path planning method, which is characterized in that it specifically includes the following steps: 1) using the RRT algorithm to search and obtain an initial path from the starting point to the end point; The branch method prunes the initial path to obtain the preliminary pruning path; 3) adopts the two-way pruning method to further shorten the length of the path for the initial pruning path; 4) uses the peak clipping method to remove the sharp angle on the path, and satisfies; 5) Smooth the path after peak shaving to obtain the following path of the unmanned vehicle. Compared with the prior art, the present invention has the advantages of shorter paths, consideration of non-holonomic constraints and the like.

Description

technical field [0001] The invention relates to the field of path planning for unmanned vehicles, in particular to an improved fast search random tree path planning method for unmanned vehicles. Background technique [0002] Due to the advantages of unmanned vehicles in reducing traffic accidents and casualties, alleviating and reducing traffic congestion, and reducing the energy consumed by users in driving, etc., they have received extensive attention from academia and industry. The implementation of autonomous vehicles involves various fields, including perception, planning, decision-making, and control technologies. To realize autonomous navigation of unmanned vehicles, global path planning is of great significance. Path planning capability is the foundation of unmanned vehicles. Only unmanned vehicles with good path planning capabilities can truly liberate humans and autonomously take humans to their destinations. [0003] Path planning refers to finding a path from a...

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
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D2201/02
Inventor 王祝萍李运松张皓陈启军
Owner TONGJI UNIV