The invention discloses a four-wheel Ackerman steering vehicle based on multi-mode search and a motion planning method thereof, and the motion planning method combines a plurality of path search modes according to a motion mode of a vehicle of which a front axle and a rear axle can be independently subjected to Ackerman steering. The method specifically comprises the following steps: obtaining an initial path according to a search mode combining crab acceleration and Reeds-Shepp curve acceleration; performing speed planning on the initial path to obtain a vehicle movement track initial solution; and carrying out optimization solution under the initial solution, the vehicle kinematics constraint, the boundary value constraint, the performance constraint, the obstacle avoidance constraint and the optimization objective function to obtain a final motion track. According to the method, the motion characteristics and maneuverability advantages of the four-wheel Ackerman steering vehicle are fully exerted, and the motion planning efficiency is remarkably improved.
本发明公开了一种基于多模式搜索的四轮阿克曼转向车辆及其运动规划方法,所述运动规划方法根据前后轴可以独立进行阿克曼转向的车辆的运动模式结合了多种路径搜索方式,并具体包括:根据结合了蟹行加速与Reeds‑Shepp曲线加速的搜索方式获得初始路径;对初始路径进行速度规划,得到车辆运动轨迹初始解;在初始解及车辆运动学约束、边值约束、性能约束、避障约束和优化目标函数下,进行优化求解,得到最终运动轨迹。本发明充分发挥了四轮阿克曼转向车辆的运动特性和机动性优势,并显著提高了运动规划效率。
Four-wheel Ackerman steering vehicle based on multi-mode search and motion planning method thereof
基于多模式搜索的四轮阿克曼转向车辆及其运动规划方法
2024-06-21
Patent
Electronic Resource
Chinese
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