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

CN109945885BActive Publication Date: 2021-01-15TSINGHUA UNIV
10 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2021-01-15

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

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.
Need to check novelty before this filing date? Find Prior Art

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...

Examples

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...