Path Planning of UGV Based on Bézier Curves
文献类型：期刊论文
| 作者 | Hu YM(胡艳明)1,2,3 ; Li DC(李德才)1,2; He YQ(何玉庆)1,2; Han JD(韩建达)1,2,4
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| 刊名 | Robotica
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| 出版日期 | 2019 |
| 页码 | 1-29 |
| 关键词 | Path planning Bézier curves Unmanned ground vehicle Comfortable driving Speed planning |
| ISSN号 | 0263-5747 |
| 产权排序 | 1 |
| 英文摘要 | SummaryAn effective path planner is critical for autonomous traversal of unmanned ground vehicles (UGVs) in harsh environments. This paper describes a novel path planning method considering Bézier curves and a two-layer planning framework. In the two-layer framework, a road centerline (RCL) estimator located on the upper layer works as a global planner to obtain the local target for the bottom local planner. The RCL is estimated from a series of candidate Bézier curves based on a safety criterion. In the bottom layer, an optimal trajectory planner and a speed planner make up the local planner to obtain the desired steering turning angle and linear speed. The criteria for optimal trajectory selection are designed for comfortable driving. Road safety is considered in the speed planner for robust driving. Three sets of simulations are used to evaluate and quantify the relative performance of variations of our path planning algorithm. The proposed path planning method is implemented on a modified Polaris RZR 800 UGV, too. Two experiments based on this UGV are set up in the country road environment to demonstrate the viability of the proposed method. |
| 语种 | 英语 |
| 资助机构 | Nature Sciences Foundation of China (Grant Nos.U1608253, 91748208) ; Chinese Academy of Sciences (Grant No. 6141A01061601) ; State Key Laboratory of Robotics (No. 2017-Z07) |
| 源URL | [http://ir.sia.cn/handle/173321/24110]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | He YQ(何玉庆) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.College of Artificial Intelligence, Nankai University, Tianjing 300071, China |
| 推荐引用方式 GB/T 7714 | Hu YM,Li DC,He YQ,et al. Path Planning of UGV Based on Bézier Curves[J]. Robotica,2019:1-29. |
| APA | Hu YM,Li DC,He YQ,&Han JD.(2019).Path Planning of UGV Based on Bézier Curves.Robotica,1-29. |
| MLA | Hu YM,et al."Path Planning of UGV Based on Bézier Curves".Robotica (2019):1-29. |
入库方式： OAI收割
来源：沈阳自动化研究所
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