存在障碍物的类车最优路径规划

Proceedings of the 2003 IEEE International Conference on Intelligent Transportation Systems Pub Date : 2003-12-19 DOI:10.1109/ITSC.2003.1252667

T. Martínez-Marín

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引用次数: 6

摘要

目前，类车车辆的全局最优路径规划仍然是一个悬而未决的问题，特别是在存在障碍物的情况下。本文提出了一种考虑运动和障碍物约束的车辆最优运动求解方法。我们采用一种基于单元映射技术的高效算法(ccm)来寻找类车车辆的最优运动规律。仿真结果表明，该方法具有良好的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Optimal path planning for car-like vehicles in the presence of obstacles

Global optimal path planning of car-like vehicles remains today an open problem especially in the presence of obstacles. In this paper, we propose a method to obtain the optimal motion of a vehicle considering kinematic and obstacle constraints. We employ an efficient algorithm (CACM), based on cell mapping techniques, to find the optimal motion laws of a car-like vehicle. Simulation results are reported to show the satisfactory performance of the method.

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Proceedings of the 2003 IEEE International Conference on Intelligent Transportation Systems

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