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Hybrid path planning method based on articulated vehicle kinematics constraints

An articulated vehicle and hybrid path technology, applied in the field of hybrid path planning based on kinematic constraints of articulated vehicles

Pending Publication Date: 2020-08-11
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Purpose of the invention: In view of the above defects, the present invention provides a hybrid path planning method based on kinematic constraints of articulated vehicles, which solves the path planning requirements of both forward and backward consideration of articulated vehicles, which is also a problem avoided by traditional path planning

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  • Hybrid path planning method based on articulated vehicle kinematics constraints
  • Hybrid path planning method based on articulated vehicle kinematics constraints
  • Hybrid path planning method based on articulated vehicle kinematics constraints

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Embodiment Construction

[0042] Below in conjunction with specific embodiment, further illustrate the present invention, should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various equivalent forms of the present invention All modifications fall within the scope defined by the appended claims of the present application.

[0043] The implementation method of the present invention will be described in more detail below in conjunction with the accompanying drawings.

[0044] Such as figure 1 As shown, a hybrid path planning method based on articulated vehicle kinematics constraints described in the present invention includes the following steps:

[0045] Preparations: in figure 2, the environment map is 100×100, the shaded part is an obstacle, set the starting position coordinates of the road roller (20, 85), the a...

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Abstract

The invention discloses a hybrid path planning method based on articulated vehicle kinematics constraints, which comprises the following steps: 1, dividing a real obstacle and a designed virtual obstacle into two different categories according to an experimental scene, and obtaining a two-dimensional optimal zero potential curve and a maximum interval by using a support vector machine theory; 2, obtaining a plurality of key inflection points on the optimal zero potential curve by utilizing a farthest reachable distance method; 3, drawing a Bezier curve planning path meeting kinematics constraints of the articulated vehicle between every two key inflection points; 4, splicing local paths which do not meet kinematics constraints of the articulated vehicle by a bidirectional improved RRT algorithm; and 5, connecting the drawn Bezier curve planning path and the planning path drawn by the bidirectional improved RRT algorithm to obtain a final planning path.

Description

technical field [0001] The invention belongs to the field of vehicle path planning, in particular to a hybrid path planning method based on articulated vehicle kinematics constraints. Background technique [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 things. [0003] Articulated engineering vehicles have special steering mechanisms and driving characteristics, and are often used in engineering on non-structural...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/04G06T11/20G01C21/20
CPCG06Q10/047G06T11/203G01C21/20
Inventor 王东许曈吴媞张为公
Owner SOUTHEAST UNIV