Aiming at the difficulty of parking semi-trailer trains, the vertical parking path planning of semi-trailer trains was studied based on the improved hybrid A* algorithm. Firstly, the vehicle kinematics model is established. Then, the original algorithm is improved on the basis of the hybrid A* algorithm, so that it can be applied to semi-trailer trains. Finally, the improved hybrid A* algorithm is verified by MATLAB simulation. The simulation results show that the improved hybrid A* algorithm can be used in general situations or when the vehicle has a certain initial heading angle. It can make the vehicle stop to the target parking space accurately and without error.


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    Title :

    Research on Vertical Parking Path Planning of Semi-trailer Train Based on Improved Hybrid A* Algorithm


    Contributors:
    Tian, Zhewen (author) / Zhang, Ping (author) / Feng, Kean (author) / Tang, Yun (author) / Lu, Yaojun (author)


    Publication date :

    2022-09-23


    Size :

    1402940 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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