A real-time local path planning method in complex scenes
Cai Wenlin, Zihui Zhu, Jianhua Li, Jiaqi Liu, Chunxi Wang · 2021
Aiming at complex military application scenarios, this paper proposes a vision and lidar fusion scheme, and designs an algorithm for real-time construction of local scenes and real-time local path planning. It satisfies that the vehicle can avoid ground obstacles and aerial obstacles in real time under the state of no navigation and no map, and realize autonomous navigation. Experiments have verified that the algorithm has high execution efficiency and can meet the application requirements of autonomous driving.