Rapid path planner for autonomous ground vehicle using section collision detection

Zhe Leng, Min Zhou Dong, Gang Qi Dong, Jie Yan

科研成果: 期刊稿件文章同行评审

7 引用 (Scopus)

摘要

Rapid path planner plays an important role in autonomous ground vehicle (AGV) operation. Depending on the non-holonomic kinematics constraints of AGV, its path planning problem is discussed. Since rapidly-exploring random tree (RRT) can directly take non-holonomic constraints into consideration, it is selected to solve this problem. By applying extra constraints on the movement, the generation of new configuration in RRT algorithm is simplified and accelerated. With section collision detection method applied, collision detection within the planer becomes more accurate and efficient. Then a new path planner is developed. This method complies with the non-holonomic constraints, avoids obstacles effectively and can be rapidly carried out while the vehicle is running. Simulation shows that this path planner can complete path planning in less than 0.5 s for a 170 m×170 m area with moderate obstacle complexity.

源语言英语
页(从-至)306-309
页数4
期刊Journal of Shanghai Jiaotong University (Science)
14 E
3
DOI
出版状态已出版 - 6月 2009

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