A path planning method and system based on tracked vehicle
By introducing bidirectional search, pseudo three-dimensional grid map and Bezier curve into tracked vehicle path planning, combined with artificial potential field method, the problem of untimely update of tracked vehicle path planning is solved, and efficient path planning and smooth driving in complex environments are achieved.
CN116358580BActive Publication Date: 2025-09-16NANJING UNIV OF SCI & TECH
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Patent Information
- Application Number
- CN202211648142.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-12-21
- Publication Date
- 2025-09-16
- Estimated Expiration
- 2042-12-21
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Figure CN116358580B_ABST
Abstract
This application provides a path planning method and system for a tracked vehicle, including: obtaining information about the tracked vehicle's surrounding environment and generating a city road map based on the environmental information; planning the shortest path from the tracked vehicle's current coordinates to a given coordinate based on the city road map to obtain a preset path; extracting qualified path key points based on two thresholds, namely, a steering angle threshold and a distance between key points, based on the tracked vehicle's kinematic constraints, and smoothing the path using Bezier curves or B-spline curves; if the originally planned path is unable to proceed, the unmanned vehicle replans a new path starting from the current point and satisfying the road network constraints based on the path evaluation score; and if the tracked vehicle encounters an unknown dynamic obstacle, dynamic collision avoidance using an artificial potential field method (APF). This application can quickly determine the feasibility of a preset path.
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