重庆理工大学学报2024，Vol.38Issue(19)：63-70,8.DOI:10.3969/j.issn.1674-8425(z).2024.10.008
基于改进RRT*的无人摆渡车泊车路径规划
Research on automatic parking path planning of unmanned ferries based on improved RRT*
摘要
Abstract
To improve the safety and convenience of unmanned shuttle car parking,this paper studies the path planning algorithm of unmanned shuttle car automatic parking system.First,the vehicle kinematics model and the vehicle collision detection model are built in the low speed parking state.RRT*algorithm is employed for path planning,and its expansion mode,cost function and sampling mode are improved.Then,the path planning algorithm is simulated and verified in vertical and parallel parking environments.Our simulation results show the path planned by the improved planning algorithm not only meets the obstacle avoidance requirements and kinematic constraints,but also achieves higher path search efficiency and path quality.关键词
自动泊车/路径规划/改进RRT*算法/Reeds-Shepp曲线Key words
automatic parking/path planning/improved RRT*algorithm/Reeds-Shepp curve分类
交通工程引用本文复制引用
王兆宏,李刚,王浩..基于改进RRT*的无人摆渡车泊车路径规划[J].重庆理工大学学报,2024,38(19):63-70,8.基金项目
辽宁省自然科学基金项目(2022-MS-376) （2022-MS-376）
辽宁省教育厅重点攻关项目(JYTZD2023081) （JYTZD2023081）
