A Greedy-Strategy-Based Iterative Optimization Method for Articulated Vehicle Global Trajectory Optimization in Complex Environments

Abstract

This paper considers the problem of trajectory planning for articulated vehicles in complex environments. We formulate this problem as an optimal control problem (OCP) and propose a greedy-strategy-based planner. This planner consists of three stages. In stage 1, an IAA* algorithm is proposed to identify the homotopy class. In stage 2, the collision-free tunnels are constructed along the guiding trajectory generated in stage 1 to simplify the intractable collision-avoidance constraints. In stage 3, a greedy-strategy-based iterative optimization (GSIO) framework is designed, which contributes to escaping from local optimums, making the optimization process more targeted, and converging to the global optimum solution quickly, especially in complex tasks. One feature of the proposed planner is that it is suitable for any type of articulated vehicle, and the proposed optimization framework can be used as an open framework to optimize any criterion that can be described explicitly by a polynomial. Furthermore, in the set simulation cases, our work shows significant competitiveness, under the premise of ensuring moderate CPU processing time, our algorithm achieves approximately a 40% performance improvement in optimization effects compared to selected comparative algorithms.