A Motion Planning Algorithm for Autonomous Land Vehicle Based on Virtual Tentacles
By the kinematic analysis of autonomous land vehicle, a novel motion planning algorithm using circular-arc virtual tentacles is proposed, which is based on the reactive action planning method and the insect’s obstacle avoidance by tentacles. The reference front wheel angle of the arc trajectory fragment is also given. The simulation and experimental results show that with the proper initial parameters, an obstacle avoidance track that is smooth and can meet the kinematic constraint of the vehicle is given by the virtual tentacles algorithm. It is proved that the algorithm is concise and fit for the real-time control.
Autonomous land vehicle Motion planning Arc trajectory Virtual tentacles
Wang Ke-ke Zhao Han-qing Lv Qiang Zhang Wei
Academy of Armored Force Engineering, Beijing, 100072 China
国际会议
2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)
四川绵阳
英文
2436-2440
2011-05-23（万方平台首次上网日期，不代表论文的发表时间）