基于RRT*算法的自主代客泊车路径规划仿真与分析  

Simulation and Analysis of Autonomous Valet Parking Path Planning Based on RRT* Algorithm

作　　者：刘猛 华蕾 花逸峰 谢军 Liu Meng;Hua Lei;Hua Yifeng;Xie Jun

机构地区：[1]江苏大学汽车与交通工程学院,江苏省镇江市212013 [2]江苏罡阳转向系统有限公司,江苏省泰州市225318

出　　处：《时代汽车》2020年第14期31-32,共2页Auto Time

摘　　要：本文采用RRT*算法和三次样条曲线规划出一条从起始点到目标车位的可行平滑路径,然后基于Matlab对其进行仿真与分析。仿真结果表明,该算法能够有效地在停车场这类半结构化环境中规划出一条满足车辆动力学和运动学的可行路径,同时使用三次样条曲线进行平滑拟合,使规划出的轨迹更加平顺光滑,以减少不必要的横向摆动。This paper uses RRT* algorithm and cubic spline to plan a feasible smooth path from the starting point to the target parking space,and then simulates and analyzes it based on Matlab.Simulation results show that the algorithm can eff ectively plan a feasible path that satisfi es vehicle dynamics and kinematics in a semi-structured environment such as a parking lot.At the same time,a cubic spline curve is used for smooth fi tting to make the planned trajectory smoother and smoother to reduce unnecessary lateral swing.

关 键 词：自主代客泊车 局部路径规划 RRT*算法 三次样条曲线 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]