Application Research on Dynamic Obstacle Avoidance Path Planning of Unmanned Vehicle in Uncertain Environment
Gao Tao, Jun Li, Huang Liying · 2023
To solve the problem of uncertain environment, the dynamic collision avoidance path planning of unmanned vehicles was studied based on D* Lite algorithm. Firstly, the grid method was used to build environment model for the implementation process of D* Lite algorithm. Through the comparison with the simulation results of A* algorithm, the correctness and efficiency of D* Lite algorithm were verified in the maze environment, and the dynamic collision avoidance function of D* Lite algorithm was verified in the random obstacle environment. Finally, D* Lite algorithm was applied to simulate and analyze the dynamic collision avoidance path planning of unmanned vehicle in uncertain environment. The simulation example analysis of D* Lite algorithm based on MATLAB 2020b platform shows that in an uncertain environment, unmanned vehicles can use D* Lite algorithm for accurate and efficient dynamic collision avoidance path planning. Whether it is a simple campus park road or a complex and tortuous park road, whether it is single obstacle or multiple obstacles, the algorithm can always successfully complete the autonomous collision avoidance path planning under the dynamic map.