Articulated engineering vehicle path planning method based on support vector machine

Abstract

The invention discloses an articulated engineering vehicle path planning method based on a support vector machine, and the method comprises the following steps: 1, searching a proper path in an experiment scene through employing a target-oriented quick search random tree algorithm, and respectively marking real obstacles at two sides of the path as two different classification labels; 2, respectively adding a group of virtual obstacles near the starting point and the ending point of the vehicle, marking the virtual obstacles as two different classification labels, and obtaining a two-dimensional optimal zero potential curve and a maximum interval of the marked real obstacles and virtual obstacles through a support vector machine theory; 3, obtaining a plurality of key inflection points onthe two-dimensional optimal zero potential curve by utilizing a 'farthest reachable distance method '; 4, obtaining a planned path. In consideration of the interference of obstacles in reality and thespecial steering characteristics of the articulated engineering vehicle, a path capable of enabling the articulated engineering vehicle to directly track is designed.

Description

Technical field [0001] The invention belongs to the field of vehicle path planning, and particularly relates to a path planning method for articulated engineering vehicles based on a support vector machine. Background technique [0002] At present, there are some literatures on vehicle path planning algorithms, such as path planning based on genetic algorithm, path planning based on artificial potential field method, path planning based on ant colony algorithm, path planning based on fast search random tree, etc. These algorithms Only consider the path planning requirements when the vehicle is moving forward; some other path planning algorithms, such as parking path planning, etc., also consider the path planning requirements when moving forward and backward, but these documents do not consider other static obstacles except parking spaces Things. [0003] Articulated construction vehicles have special steering mechanisms and driving characteristics, and are often used in non-struc...

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Problems solved by technology

[0002] At present, some literatures have been researched on vehicle path planning algorithms, such as path planning based on genetic algorithm, path planning based on artificial potential field method, path planning based on ant colony algorithm, path planning based on fast search random tree, etc. These algorithms Only the path planning requirements when the vehicle is moving forward; some other path planning algorithms, such as parking path planning, etc., consider the path planning requirements when moving forward and backward, but these documents do not consider other static obstacles except parking spaces thing

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