According to the obstacle avoidance path robust planning method and system for unknown obstacle distribution provided by the invention, a VFH algorithm is improved to determine an optimal passable area in combination with the minimum passing width through which a vehicle can safely pass and a known global path, so that the safety and effectiveness of the optimal passable area are improved; a control point is determined between a local obstacle avoidance path target point and an initial point of a vehicle, and unknown parameters are introduced to fit an optimal planning path described by a segmented Bezier curve, so that on the premise of ensuring the smooth path, the shortest path is realized, the time required by optimization is relatively short, the obstacle avoidance energy consumption is reduced, and the real-time performance of path planning is met; an objective function is established by establishing a shortest driving path and a minimum local obstacle avoidance path target point direction variable quantity, and unknown parameters are solved by a local obstacle avoidance path target point direction constraint condition, so that an optimal obstacle avoidance path which is shortest in length, minimum in target direction change and capable of meeting vehicle kinematics constraint is obtained.
本发明提出了一种未知障碍物分布的避障路径鲁棒规划方法及系统,结合车辆可安全通过的最小通行宽度和已知的全局路径来改进VFH算法确定最优可通行区域,提高了最优可通行区域的安全性、有效性;通过局部避障路径目标点与车辆的初始点之间确定控制点,通过引入未知参数拟合成分段贝塞尔曲线描述的最优规划路径,在保证路径平滑的前提下,实现了路径的最短,且优化所需时间较小,降低避障能耗,满足了路径规划的实时性;通过建立行驶路径最短和局部避障路径目标点方向变化量最小建立目标函数以及局部避障路径目标点方向约束条件求解未知参数,从而得到长度最短、目标方向变化最小,满足车辆运动学约束的最优避障路径。
Obstacle avoidance path robust planning method and system for unknown obstacle distribution
一种未知障碍物分布的避障路径鲁棒规划方法及系统
2023-06-27
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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