机械科学与技术2024，Vol.43Issue(6)：1063-1071,9.DOI:10.13433/j.cnki.1003-8728.20220310
改进Bi-RRT*算法的自动泊车路径规划
Automatic Parking Path Planning with Improved Bi-RRT* Algorithm
摘要
Abstract
To solve the problem that the parking path generated by the existing bidirectional rapidly-exploring random tree(Bi-RRT*)algorithmdoes not meet a vehicle's kinematics constraints,path twists and turns and slow convergence speed,an improved Bi-RRT* algorithm is proposed.First,based on the vehicle collision detection model,obstacles are magnified to ensure the safe parking distance for the vehicle.Secondly,the Reeds-Shepp curve is used to expand the nodes,so that the path connection meets the vehicle's kinematics constraints.Furthermore,in order to improve the search efficiency and sampling success rate of the Bi-RRT*algorithm,obstacle avoidance and radial constrained sampling strategies are introduced.Finally,the path nodes are uniformly interpolated,and the RRT*tree based on the starting point is used to remove redundant paths to realize the smooth optimization of the path.The simulation results show that compared with the existing Bi-RRT*algorithm,the path planned by the improved Bi-RRT*algorithm not only meets the obstacle avoidance requirements and kinematic constraints but is also superior in planning time and path quality.关键词
自动泊车/路径规划/改进Bi-RRT*算法/Reeds-Shepp曲线/约束采样Key words
automatic parking/path planning/improved Bi-RRT*algorithm/Reeds-Shepp curve/constrained sampling分类
交通工程引用本文复制引用
姚智龙,张小俊,王金刚..改进Bi-RRT*算法的自动泊车路径规划[J].机械科学与技术,2024,43(6):1063-1071,9.基金项目
天津市新一代人工智能科技重大专项(18ZXZNGX00230) （18ZXZNGX00230）
