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Calculation method of dynamic obstacle avoidance path planning for unmanned motorcycle

A dynamic obstacle and path planning technology, applied in the direction of road network navigator, etc., can solve the problems of inability to achieve online planning, low real-time performance, difficult safety of artificial potential field method, and flexibility balance of obstacle avoidance, etc. To achieve the effect of reducing running time, easy analysis, easy visualization

Active Publication Date: 2021-01-15
TSINGHUA UNIV
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AI Technical Summary

Problems solved by technology

[0005] At present, the widely used traditional path planning algorithm is the A* (A star) algorithm. Its disadvantage is that there are a large number of unnecessary redundant calculations, and the real-time performance is not high, which is far from meeting the requirements of online planning.
Another type of method that has been widely studied is the artificial potential field method. If the obstacle is not convex or the repulsion and attraction are balanced, the motion path will easily enter the local minimum point, and the artificial potential field method is difficult to achieve in terms of safety and flexibility of obstacle avoidance. balance in sex

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  • Calculation method of dynamic obstacle avoidance path planning for unmanned motorcycle
  • Calculation method of dynamic obstacle avoidance path planning for unmanned motorcycle
  • Calculation method of dynamic obstacle avoidance path planning for unmanned motorcycle

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Embodiment Construction

[0043]Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0044] First of all, the technical solutions of the prior art and the defects in the technical solutions are described below.

[0045] 1) Heuristic traditional path planning method

[0046] The A* algorithm is a graph search method. The A* algorithm needs to be used in a discrete grid map. In the basic A* algorithm, follow the steps below for global path planning:

[0047] Step 1: Put the initial node into the open list

[0048] Step 2: If there is no node in the open list, path exploration fails. Otherwise proceed to the next...

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Abstract

The invention discloses a dynamic obstacle avoidance path planning and calculation method for an unmanned motorcycle. The method comprises following steps: establishing an equilibrium kinetics model and a kinematic model of the unmanned motorcycle; acquiring a passage for connecting an initial node and a target node on a grid map with an A* algorithm of adaptive resolution; acquiring real-time control quantity with a cone-based dynamic obstacle avoidance algorithm through combination of the equilibrium kinetics model and the kinematic model to avoid obstacles. With the adoption of a low-precision map in the method, the environment is shown in a multi-level manner, operating time of the algorithm is greatly shortened, the demand for real-time capability in path planning is met, besides, sensitivity to the obstacles is modulated to be stable with the cone-based local planning mode, and crossing of multiple obstacles is facilitated.

Description

technical field [0001] The invention relates to the technical field of intelligent decision-making planning and control execution of unmanned vehicles, in particular to a dynamic obstacle avoidance path planning calculation method for unmanned motorcycles. Background technique [0002] With the increasing demand for transportation, driving has become an essential skill in daily life, and it also takes up a lot of people's time. It is foreseeable that there will be a large number of driving jobs in the future. All kinds of automobile manufacturers and universities expect to develop unmanned driving that can adapt to most road conditions within a few years. And unmanned motorcycles are a relatively new field in unmanned driving, capable of more flexible movements. As a special configuration robot, motorcycle has the characteristics of high speed, low noise and good passability in the field. Its unmanned robot has broad application prospects in various fields. [0003] Path p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34
Inventor 陈章田宇梁斌芦维宁
Owner TSINGHUA UNIV
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