一种基于回旋曲线的局部路径规划方法
|
摘要
基于回旋曲线路径模型的局部路径规划方法,将规划算法分为离线和在线两部分。离线计算通过建立轨迹空间与栅格单元映射关系获得搜索图,以文件形式存储。在线规划以局部环境地图栅格单元占有情况为依据,获得可行轨迹空间,然后采用A*搜索算法,获得最优局部路径。仿真实验表明,在障碍稀疏环境中,所提出的方法能够规划出局部路径,且规划耗时满足实时性运行需求;参数离散化导致所提出规划方法的完备性不足,对于复杂环境可能无法规划出可行路径。
A local path planning method based on clothoid model is researched,and the method consists of two parts,i.e. offline and online. In the offline computation,the searching graph is obtained by building the mapping relationship between trajectory space and grid cells,and the mapping relationship is saved in the form of files. In the online computation,the feasible trajectory space is obtained based on the occupancy of local map grid cells. A* search method is used to get the optimized local path. The simulation tests show that the local paths can be planned out with the proposed method in obstacle sparsely scattered environment and the planning time meets the requirement of real time operation. But the local path cannot be planned out in complex environment,the reason is that the method’s completeness is not enough as a result of discrete parameters.
A local path planning method based on clothoid model is researched,and the method consists of two parts,i.e. offline and online. In the offline computation,the searching graph is obtained by building the mapping relationship between trajectory space and grid cells,and the mapping relationship is saved in the form of files. In the online computation,the feasible trajectory space is obtained based on the occupancy of local map grid cells. A* search method is used to get the optimized local path. The simulation tests show that the local paths can be planned out with the proposed method in obstacle sparsely scattered environment and the planning time meets the requirement of real time operation. But the local path cannot be planned out in complex environment,the reason is that the method’s completeness is not enough as a result of discrete parameters.
引文
[1]BORENSTEIN J,KOREN Y. The vector field histogram[J].IEEE Journal of Robotics and Automation,1991,7(3):278-288.
[2]SIMMONS R. The curvature velocity method for local obstacle avoidance[C]//Proceedings of the International Conference on Robotics and Automation(ICRA),Minneapolis,MN,USA:IEEE,1996:3375-3382.
[3]FLORES G E D,QUESADA E S E. Online UAS local path-planning algorithm for outdoors obstacle avoidancebased on attractive and repulsive potential fields[C]//2016International Conference on Unmanned Aircraft Systems(ICUAS),Arlington,VA,USA:IEEE,2016:514-520.
[4]COOMBS D,MURPHY K,LACAZE A,et al. Driving autonomously offroad up to 35 km/h[C]//Proceedings of the2000 Intelligent Vehicles Conference,Dearborn,MI,USA:IEEE,2000:186-191.
[5]PIVTORAIKO M. A study of polynomial curvature clothoid paths for motion planning for car-like robots[D].Pittsburgh:Carnegie Mellon University,2004.
[6] LACAZE A,MOSCOVITZ Y,DECLARIS N,et al. Path planning for autonomous vehicles driving over rough terrain[C]//Proceedings of the ISIC/CIRA/ISAS 1998 Conference,Gaithersburg,MD:IEEE,1998:50-55.
[7]NAIK A. Arc path collision avoidance algorithm for autonomous ground vehicles[D].Virginia:Polytechnic Institute and State University,2005.
[8]SHIMODA S,KURODA Y,IAGNEMMA K. Potential field navigation of high speed unmanned ground vehicles on uneven terrain[C]//Proceedings of the 2005 IEEE International Conference on Robotics and Automation,Barcelona,Spain:IEEE,2005:2828-2833.
[9]宋国浩,黄晋英,兰艳亭.基于Dubins路径的智能车辆路径规划算法[J].火力与指挥控制,2016,41(6):41-45.
[10]周瑞钊,王和明.基于SOPC和FPGA的智能机器人无线通讯系统设计[J].火力与指挥控制,2016,41(10):188-191.
[11]刘艳梅,王鑫,马跃晏.机器人制孔自适应蚁群路径规划算法[J].火力与指挥控制,2017,42(10):142-146.
[12]HENRIE J,WILDE D. Planning continuous curvature paths using constructive polylines[J]. Journal of Aerospace Computing,Information,and Communication,2007,4(12):1143-1157.
[2]SIMMONS R. The curvature velocity method for local obstacle avoidance[C]//Proceedings of the International Conference on Robotics and Automation(ICRA),Minneapolis,MN,USA:IEEE,1996:3375-3382.
[3]FLORES G E D,QUESADA E S E. Online UAS local path-planning algorithm for outdoors obstacle avoidancebased on attractive and repulsive potential fields[C]//2016International Conference on Unmanned Aircraft Systems(ICUAS),Arlington,VA,USA:IEEE,2016:514-520.
[4]COOMBS D,MURPHY K,LACAZE A,et al. Driving autonomously offroad up to 35 km/h[C]//Proceedings of the2000 Intelligent Vehicles Conference,Dearborn,MI,USA:IEEE,2000:186-191.
[5]PIVTORAIKO M. A study of polynomial curvature clothoid paths for motion planning for car-like robots[D].Pittsburgh:Carnegie Mellon University,2004.
[6] LACAZE A,MOSCOVITZ Y,DECLARIS N,et al. Path planning for autonomous vehicles driving over rough terrain[C]//Proceedings of the ISIC/CIRA/ISAS 1998 Conference,Gaithersburg,MD:IEEE,1998:50-55.
[7]NAIK A. Arc path collision avoidance algorithm for autonomous ground vehicles[D].Virginia:Polytechnic Institute and State University,2005.
[8]SHIMODA S,KURODA Y,IAGNEMMA K. Potential field navigation of high speed unmanned ground vehicles on uneven terrain[C]//Proceedings of the 2005 IEEE International Conference on Robotics and Automation,Barcelona,Spain:IEEE,2005:2828-2833.
[9]宋国浩,黄晋英,兰艳亭.基于Dubins路径的智能车辆路径规划算法[J].火力与指挥控制,2016,41(6):41-45.
[10]周瑞钊,王和明.基于SOPC和FPGA的智能机器人无线通讯系统设计[J].火力与指挥控制,2016,41(10):188-191.
[11]刘艳梅,王鑫,马跃晏.机器人制孔自适应蚁群路径规划算法[J].火力与指挥控制,2017,42(10):142-146.
[12]HENRIE J,WILDE D. Planning continuous curvature paths using constructive polylines[J]. Journal of Aerospace Computing,Information,and Communication,2007,4(12):1143-1157.