无人驾驶车辆机场廊桥下动态避撞路径规划#br#

taptap下载安装安卓学报 ›› 2020, taptap点点手机网页 ›› Issue (4): 21-26.

无人驾驶车辆机场廊桥下动态避撞路径规划#br#

王丙元，郑芳，李霞，姜建，杨搏

taptap下载安装安卓电子信息与自动化学院，天津300300

收稿日期:2019-09-20 修回日期:2019-12-04 出版日期:2020-08-27 发布日期:2020-08-27
作者简介:王丙元（1968—），男，辽宁朝阳人，博士，教授，研究方向为网络测控自动化.
基金资助:
国家自然科学基金项目（U1333102）

Dynamic collision avoidance path planning of unmanned vehicles under airport bridge#br#

WANG Bingyuan, ZHENG Fang, LI Xia, JIANG Jian, YANG Bo#br#

College of Electronic Information and Automation, CAUC, Tianjin 300300, China

Received:2019-09-20 Revised:2019-12-04 Online:2020-08-27 Published:2020-08-27

摘要/Abstract

摘要： 为优化无人驾驶车辆动态避撞路径规划时间和平滑规划路径，提出了一种路径规划融合算法。该算法在双向快速扩展随机树（Bid-RRT）基础上引入动态窗口法，利用Bid-RRT 快速搜索避障路径，缩短路径规划时长，使用动态窗口法进行规划路径的平滑，从而实现在动态约束下的无人驾驶车辆避撞。将该算法应用于机场廊桥下无人驾驶车辆避撞仿真，结果表明，其规划的轨迹更加安全、有效，可同时满足避撞路径规划的快速性和平滑性要求。

关键词: 无人驾驶车辆, 路径规划, 双向快速扩展随机树, 动态窗口法, 机场廊桥

Abstract: To optimize the path planning duration and smooth planning path for dynamic collision avoidance of unmanned vehicle, a fusion algorithm for path planning is proposed. Bid -RRT is used to quickly search the obstacle avoidance path, shorten the path planning time. Dynamic window approach is used to smooth the planning path,the path planned by the fusion algorithm is able to avoid collision of unmanned vehicles under dynamic constraints. Simulation results show that the planned trajectory is more secure and more effective for dynamic collision avoidance of unmanned vehicles under airport bridge, being able to conduct collision avoidance path planning both rapidly and smoothly.

Key words: unmanned vehicle, path planning, Bid-RRT, dynamic window approach, airport bridge

中图分类号:

V351.3
TP391

王丙元, 郑芳, 李霞, 姜建, 杨搏. 无人驾驶车辆机场廊桥下动态避撞路径规划#br#[J]. taptap下载安装安卓学报, 2020, 38(4): 21-26.

WANG Bingyuan, ZHENG Fang, LI Xia, JIANG Jian, YANG Bo. Dynamic collision avoidance path planning of unmanned vehicles under airport bridge#br#[J]. Journal of Civil Aviation University of China, 2020, 38(4): 21-26.

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