无人驾驶车辆机场廊桥下动态避撞路径规划  

Dynamic collision avoidance path planning of unmanned vehicles under airport bridge

作　　者：王丙元 郑芳 李霞 姜建 杨搏 WANG Bingyuan;ZHENG Fang;LI Xia;JIANG Jian;YANG Bo(College of Electronic Information and Automation,CAUC,Tianjin 300300,China)

机构地区：[1]中国民航大学电子信息与自动化学院,天津300300

出　　处：《中国民航大学学报》2020年第4期21-26,共6页Journal of Civil Aviation University of China

基　　金：国家自然科学基金项目(U1333102)。

摘　　要：为优化无人驾驶车辆动态避撞路径规划时间和平滑规划路径,提出了一种路径规划融合算法。该算法在双向快速扩展随机树(Bid-RRT)基础上引入动态窗口法,利用Bid-RRT快速搜索避障路径,缩短路径规划时长,使用动态窗口法进行规划路径的平滑,从而实现在动态约束下的无人驾驶车辆避撞。将该算法应用于机场廊桥下无人驾驶车辆避撞仿真,结果表明,其规划的轨迹更加安全、有效,可同时满足避撞路径规划的快速性和平滑性要求。To optimize the path planning duration and smooth planning path for dynamic collision avoidance of unmanned vehicle,a fusion algorithm for path planning is proposed.Bid-RRT is used to quickly search the obstacle avoidance path,shorten the path planning time.Dynamic window approach is used to smooth the planning path,the path planned by the fusion algorithm is able to avoid collision of unmanned vehicles under dynamic constraints.Simulation results show that the planned trajectory is more secure and more effective for dynamic collision avoidance of unmanned vehicles under airport bridge,being able to conduct collision avoidance path planning both rapidly and smoothly.

关 键 词：无人驾驶车辆 路径规划 双向快速扩展随机树 动态窗口法 机场廊桥 

分 类 号：V351.3[航空宇航科学与技术—人机与环境工程] TP391[自动化与计算机技术—计算机应用技术]