Study of the Path Planning of Unmanned Vehicles Based on the Multi-curvature Fitting-model
Zhenyu Wang · Automation and Instrumentation · 2012
To solve the problem of local path planning of unmanned vehicles,this paper proposes a path planning algorithm based on the multi-curvature fitting-model.We set up the candidate path set produced by the three times curvature polynomials after considering the actual characteristics of unmanned vehicles,and use the four times repetitive cycle parameters method to solve the problem of calculation of the three times curvature polynomials' parameters.We can choose the optimal path in the current environment from the candidate path set according to the evaluation function.With the path planning algorithm put forward by this paper,unmanned vehicles passed a few intersections successfully,which proved that this algorithm is effective.