基于弹性约束带法的车辆路径规划  

Path Planning based on Elastic Band Method

作　　者：周苏[1] 纪光霁[1] 刘颖方[2] 

机构地区：[1]同济大学汽车学院,上海201804 [2]同济大学中德学院,上海200092

出　　处：《上海汽车》2012年第11期31-34,共4页Shanghai Auto

摘　　要：根据弹性约束带的理论基础,结合A*算法对初步路径进行规划以及Bézier曲线对最终路线确定,为自主驾驶车的避障与前进设计了自动生成的路线。在Matlab环境下的仿真结果表明,这种路径规划方法有效地规避了障碍,能较好适应汽车的尺寸要求,并符合不完整系统对于最小转弯半径以及速度方面的约束,从而给路径规划提供了便利。Based on the principle of elastic band method,a primitive and final path are determined combining the A ＊ algorithm and Bézier curve,which generates automatically the path for a self-driving car.The results simulated in the environment of Matlab demonstrate that this method enables the car to avoid the obstacles effectively and fit the requirement of the car’s size,especially meets the demands of its minimal turning radium and the restraints of its speed.

关 键 词：弹性约束带法 路径规划 自主驾驶 

分 类 号：U491[交通运输工程—交通运输规划与管理]