The Path Planning Algorithm Research Based On Cost Field For Autonomous Vehicles

摘要：

This path planning algorithm is used for the autonomous vehicle driving in the unstructured road. The gradient grid which is obtained from the point cloud data is used as the cost field. Considering the traffic-ability of autonomous vehicle, the cost field needs to be corrected by the High-resolution gradient and elevation grid in this paper. Then transforming the grid model into the network-node model. In this way, the cost field model can be used for the optimal path algorithm, such as the Dijkstra algorithm.

关键词： GIS cost field autonomous vehicle optimal path

作者: Yu Yong Wang Meiling

作者单位: School of Automation Beijing Institute of Technology Beijing, China

会议类型: 国际会议

会议名称: 2012 4th International Conference on Intelligent Human-Machine Systems and Cybernetics 第4届智能人机系统与控制论国际会议 IHMSC 2012

会议地点: 南昌

会议语种:英文

页码: 398-401

在线出版日期: 2012-08-26（万方平台首次上网日期，不代表论文的发表时间）