Global dynamic path planning algorithm for multiple virtual target points based on dynamic window

A virtual target and dynamic window technology, applied in the field of unmanned navigation, can solve the problems of not being static and not being able to quickly plan the path, and achieve the effect of improving discontinuity and non-smoothness

Inactive Publication Date: 2019-07-16
FUZHOU UNIV
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Problems solved by technology

Global path planning usually assumes that the environment information is completely known. Before the movement of the unmanned vehicle, a path from the starting point to the end point is

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  • Global dynamic path planning algorithm for multiple virtual target points based on dynamic window
  • Global dynamic path planning algorithm for multiple virtual target points based on dynamic window
  • Global dynamic path planning algorithm for multiple virtual target points based on dynamic window

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[0048] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0049] It should be pointed out that the following detailed description is exemplary and is 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.

[0050] 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 combina...

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Abstract

The invention relates to a global dynamic path planning algorithm for multiple virtual target points based on a dynamic window. A dynamic window method is applied to the global path planning direction, and the defect that traditional global path planning is discontinuous and unsmooth is improved; and as for specific operation, by adding the multiple virtual target points, updating the course angleof an unmanned vehicle on the special position and adding random obstacles, global dynamic path planning of the unmanned vehicle is achieved, and the global dynamic path planning algorithm is appliedto complex environments such as 8-surrounding tracks in 'Formula Student Autonomous China'. The MATLAB simulation result shows that the unmanned vehicle can effectively avoid the obstacles occurringrandomly, and global path planning and tracing are safely and stably completed.

Description

technical field [0001] The invention relates to the technical field of driverless navigation, in particular to a global dynamic path planning algorithm based on dynamic windows with multiple virtual target 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 the safe driving of unmanned vehicles on complex roads, their autonomous mobility is the basis. 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 with time, it can also be divided int...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/021G05D1/0223
Inventor 张卫波王浩王冬招刘朋宇陈泉泉肖继亮
Owner FUZHOU UNIV
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