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A Curvature Continuous Path Planning Method for Unmanned Vehicles Based on Rapidly Expanding Random Trees

A path planning and random tree technology, applied in road network navigators, navigation, instruments, etc., can solve problems such as low efficiency of curvature-constrained planning, achieve the effect of avoiding re-planning problems, important engineering application value, and improving the success rate of expansion

Active Publication Date: 2022-08-02
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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Problems solved by technology

[0005] In order to avoid re-planning caused by collisions caused by traditional path planning algorithms in the process of smoothing post-processing, it is a good solution to explicitly consider the smoothing problem in the planning process, but due to the limit of the edge length in the curvature constraint detection, the traditional The path planning method of the extended random tree considers the planning efficiency of the curvature constraint in the planning process is very low

Method used

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  • A Curvature Continuous Path Planning Method for Unmanned Vehicles Based on Rapidly Expanding Random Trees
  • A Curvature Continuous Path Planning Method for Unmanned Vehicles Based on Rapidly Expanding Random Trees
  • A Curvature Continuous Path Planning Method for Unmanned Vehicles Based on Rapidly Expanding Random Trees

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Embodiment 1

[0060] Matlab is used as the simulation platform, such as Figure 5 The map shown was used for the simulation, where the black square is the obstacle X obs , the white area is the safe area X free ; starting point x start =(30,80); target point x goal =(180,80);X goal is the point x goal is a circular area with a center and a radius of 8. Image 6 The execution logic of the simulation program is shown, and the specific execution steps are as follows:

[0061] Step 1: Obtain the relevant parameters required by the algorithm, including: starting point x start , the target area X goal , the environment X=X obs ∪X free , where X obs is the area where the obstacle is located, X free It is an obstacle-free area, so there is an X obs ∩X free = φ. At the same time, initialize the parameters in the algorithm, including: the longest simulation time T max =30s, initialization simulation time time=0s, termination condition threshold D of dichotomy dichotomy =1.5, given the...

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Abstract

The invention relates to a curvature continuous path planning method for an unmanned vehicle based on a rapidly expanding random tree, and belongs to the technical field of path planning. The invention uses the node list to record those nodes that can be connected without collision, and uses the stack idea to retrieve the curvature constraint from the list in reverse order, so as to obtain a feasible path that not only meets the curvature constraint but also has a shorter path length. The method of the invention can greatly improve the expansion success rate of the random tree. In addition, since the node scalability is considered in the smoothing scheme design, the length of the path planned by the algorithm will gradually decrease with the planning.

Description

technical field [0001] The invention belongs to the technical field of path planning, and in particular relates to a path planning method based on a rapidly expanding random tree, so that the curvature of the planned path is continuous and satisfies the maximum curvature constraint. There are a wide range of applications. Background technique [0002] Intelligent robots provide convenience and efficiency for life and production, making it a hot topic in today's society, and motion planning is one of the key technologies for robot motion, especially in today's increasingly fierce demand for unmanned vehicle technology, a feasible collision-free The path is the key to the safe movement of the robot. In the existing planning technology, the shortest path can be obtained by using a graph search algorithm, but the planning speed of such an algorithm is greatly affected by the size of the environment. The rapid expanding random tree (RRT / rapidlyexploring random tree) algorithm a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 廖彬宗意棚朱沈瑞马瑞瑞刘光辉万方义
Owner NORTHWESTERN POLYTECHNICAL UNIV