The invention discloses an unstructured road path planning method based on a JPS algorithm and gradient descent. The unstructured road path planning method comprises the following steps: step 1, initializing map information and path node information; 2, acquiring a series of collision-free control nodes from a starting point to a target point, and acquiring an included angle between a path formed by node connecting lines and the x axis of the map; 3, auxiliary control points are added for the control nodes, and path curve fitting is carried out; and step 4, optimizing the path curve to obtain an optimal path. The problems that in an existing path planning method, path searching efficiency is low, and a generated track is not optimal are solved.
本发明公开了一种基于JPS算法和梯度下降的非结构化道路路径规划方法,包括以下步骤:步骤1:初始化地图信息和路径节点信息;步骤2:获取起点至目标点的一系列无碰撞控制节点,获取节点连线所构成的路径与地图x轴的夹角;步骤3:为控制节点增加辅助控制点并进行路径曲线拟合;步骤4:对路径曲线进行优化得到最优路径。本发明解决了现有路径规划方法中路径搜索效率低且生成轨迹不是最优的问题。
Unstructured road path planning method based on JPS algorithm and gradient descent
基于JPS算法和梯度下降的非结构化道路路径规划方法
2023-03-03
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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