Vehicle Path Planning Fusion Algorithm Based on Road Network
Xizhi Hu, Zhihui Jiang, Xu Congcong · 2020 IEEE 4th Information Technology, Networking, Electronic and Automation Control Conference (ITNEC) · 2020
To solve the problem of global path planning and local path planning for small-area unstructured road region, a vehicle path fusion algorithm is proposed. According to the small regional global optimal road network based on Floyd algorithm, the A* algorithm plans a feasible path. Based on the Floyd path matrix, the path is recursively iterated to be optimal. The improved artificial potential field method, according to the obstacle information, plans an obstacle avoidance path. Based on the cubic polynomial curve, the path point set is fitted to generate a smooth driving track. Based on Matlab/Simulink simulation, the results prove that the designed algorithm meets the real-time requirements. The actual vehicle experiment results show that the simulation results are accurate, and prove the effectiveness of the path planning fusion algorithm and its robustness against environmental noise.