Local Path Planning for Autonomous Land Vehicle based on Navigation Function

摘要：

To address the local path planning problem for autonomous land vehicle in unstructured environments, a novel method combining navigation function and A* search is proposed. The computed navigation function in this paper embodies different constraints of vehicle, so in fact to be a near-feasible trajectory. Next the navigation function and sensed obstacles is used to construct the heuristic function, which is useful for the A* search of a local path from the initial state to the goal state in real time. Experiment results show that the proposed method can well solve the problem of local path planning for autonomous land vehicle in unstructured environments.

关键词： local path planning autonomous land vehicle unstructured environments navigation function A* search

作者: Qingyang Chen Zhenping Sun Tongtong Chen Liu Cao

作者单位: College of Mechatronic Engineering and Automation National University of Defense Technology Changsha Sany Hoisting Machinery Corporation Limited Changsha, China

会议类型: 国际会议

会议名称: 2011 Fourth International Conference on Intelligent Computation Technology and Automation(2011年第四届智能计算技术与自动化国际会议 ICICTA 2011)

会议地点: 深圳

会议语种:英文

页码: 1122-1125

在线出版日期: 2011-03-28（万方平台首次上网日期，不代表论文的发表时间）