Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment
المؤلفون المشاركون
Chen, Jiajia
Zhang, Rui
Han, Wei
Jiang, Wuhua
Hu, Jinfang
Lu, Xiaoshan
Liu, Xingtao
Zhao, Pan
المصدر
Journal of Advanced Transportation
العدد
المجلد 2020، العدد 2020 (31 ديسمبر/كانون الأول 2020)، ص ص. 1-14، 14ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2020-11-27
دولة النشر
مصر
عدد الصفحات
14
التخصصات الرئيسية
الملخص EN
The autonomous vehicle consists of perception, decision-making, and control system.
The study of path planning method has always been a core and difficult problem, especially in complex environment, due to the effect of dynamic environment, the safety, smoothness, and real-time requirement, and the nonholonomic constraints of vehicle.
To address the problem of travelling in complex environments which consists of lots of obstacles, a two-layered path planning model is presented in this paper.
This method includes a high-level model that produces a rough path and a low-level model that provides precise navigation.
In the high-level model, the improved Bidirectional Rapidly-exploring Random Tree (Bi-RRT) based on the steering constraint is used to generate an obstacle-free path while satisfying the nonholonomic constraints of vehicle.
In low-level model, a Vector Field Histogram- (VFH-) guided polynomial planning algorithm in Frenet coordinates is introduced.
Based on the result of VFH, the aim point chosen from improved Bi-RRT path is moved to the most suitable location on the basis of evaluation function.
By applying quintic polynomial in Frenet coordinates, a real-time local path that is safe and smooth is generated based on the improved Bi-RRT path.
To verify the effectiveness of the proposed planning model, the real autonomous vehicle has been placed in several driving scenarios with different amounts of obstacles.
The two-layered real-time planning model produces flexible, smooth, and safe paths that enable the vehicle to travel in complex environment.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Chen, Jiajia& Zhang, Rui& Han, Wei& Jiang, Wuhua& Hu, Jinfang& Lu, Xiaoshan…[et al.]. 2020. Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment. Journal of Advanced Transportation،Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1175905
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Chen, Jiajia…[et al.]. Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment. Journal of Advanced Transportation No. 2020 (2020), pp.1-14.
https://search.emarefa.net/detail/BIM-1175905
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Chen, Jiajia& Zhang, Rui& Han, Wei& Jiang, Wuhua& Hu, Jinfang& Lu, Xiaoshan…[et al.]. Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment. Journal of Advanced Transportation. 2020. Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1175905
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1175905
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر