1,Real-time motion planning methods for autonomous on-road driving: State-of-the-art and future research directions -Christos Katrakazas a , Mohammed Quddus a, , Wen-Hua Chen b,1 , Lipika Deka a 2,Robust Calculation of Ego-Vehicle Corridors 3,Multi-layer occupancy grid mapping for autonomou...
1,Real-time motion planning methods for autonomous on-road driving: State-of-the-art and future research directions -Christos Katrakazas a , Mohammed Quddus a,⇑ , Wen-Hua Chen b,1 , Lipika Deka a 2,Robust Calculation of Ego-Vehicle Corridors 3,Multi-layer occupancy grid mapping for auto...
affectingtheperformanceofthealgorithm(calculationspeed)isproposedtoimprovethe predictabilityoftheDWAalgorithm,andreasonablyextendthepredictiontrajectoryby predictingtheendstateofthetrajectorytotransmittheimpactevaluationfunction,sothat therobotcandetectobstaclesinadvanceandperformobstacleavoidanceactions.For multipledynamicobstacl...
Simulation results show that the improved strategy has the advantages of significantly improving the speed of path planning and reducing the amount of algorithm memory calculation.顾子侣刘宇岳广孙商文李铜哨付严宇Journal of Ordnance Equipment Engineering...
Abstract:AimingattheweakpurposivenessofrapidlyexploringrandomtreealgorithminUSVpathplanning,amodifiedrapidalgorithmisproposed.TheartificialpotentialfieldmethodisimprovedandtheforceanalysisinfourdirectionsisaddedtocomprehensivelycalculatetheresultantforceonUSV.Thecalculationmethodofsteeringangleisredefinedtoavoidenteringthelocalopt...
The calculation method of steering angle is redefined to avoid entering the local optimal trap and can reach the target point smoothly to obtain an initial path. The initial path is used to set the random point sampling area of rapidly exploring random tree algorithm. By reducing the probability...
将搜索限制在有限的区域内有助于减少运算量。It is important to appropriately limit the search area in order to: (1) reduce calculation times, and (2) make the path planning task realizable. 3. 这个例子中我们只考虑机器人与其外界环境发生碰撞的可能。如果考虑机器人在运动过程中自身部件之间可能发生...
RRT (rapidly exploring random tree) algorithm is a sampling-based path planning algorithm, which can search a path in high-dimensional environment. The traditional RRT algorithm has the problems of low node utilization and large amount of calculation. To solve these problems, the fast RRT* (Quick...
Each control point has a corresponding Bernstein-based function, which determines the curvature and smoothness of the curve in each part through interpolation and superposition, and its calculation formula is as follows: $$\:{B}_{i}^{n}\left(t\right)=\left(\frac{n!}{i!(n-1)}\right){...
The calculation of analytical exp ressions of the obstacle can be ignored. Hence, the memory target point The regression analysis, which avoids local m inim um , enhances the capability of searching . unknown space. The si ulation results verify the effectiveness of the imp roved algorithm. ...