Applied Research of Converse D-star Algorithm in Freedom Vehicle Path Planning
Zeng Kan · Journal of Sichuan Ordnance · 2013
Facing to the problem of low efficiency of autonomous vehicle path planning in big scale environment,an converse D-star algorithm is analyzed and validated.Establishing the part grid map for perceptive environment information,in which robot-distance is established,and then using A-star algorithm to search for middle goal node in process of steering,in order to plan the part path from middle goal node to current position node in roll mode.Steering to the middle goal node,autonomous vehicle searches for the next middle goal node and go on to plan in roll mode.The cycle goes on like this until the vehicle steers to the goal node.Experimental results using matlab tool indicate that the method is feasible,effective and real-time.