Open Access
ARTICLE
A Hybrid Path Planning Method Based on Articulated Vehicle Model
Zhongping Chen1, Dong Wang1, *, Gang Chen2, Yanxi Ren3, Danjie Du4
1 School of Instrument Science and Engineering, Southeast University, Nanjing, 210096, China.
2 School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, 210096, China.
3 32184 PLA Troops, Beijing, 100093, China. 4 North Carolina State University, Raleigh, NC, USA.
* Corresponding Author: Dong Wang. Email: .
Computers, Materials & Continua 2020, 65(2), 1781-1793. https://doi.org/10.32604/cmc.2020.010902
Received 05 April 2020; Accepted 08 May 2020; Issue published 20 August 2020
Abstract
Due to the unique steering mechanism and driving characteristics of the
articulated vehicle, a hybrid path planning method based on the articulated vehicle model
is proposed to meet the demand of obstacle avoidance and searching the path back and
forth of the articulated vehicle. First, Support Vector Machine (SVM) theory is used to
obtain the two-dimensional optimal zero potential curve and the maximum margin, and
then, several key points are selected from the optimal zero potential curves by using
Longest Accessible Path (LAP) method. Next, the Cubic Bezier (CB) curve is adopted to
connect the curve that satisfies the curvature constraint of the articulated vehicle between
every two key points. Finally, Back and Forth Rapidly-exploring Random Tree with
Course Correction (BFRRT-CC) is designed to connect paths that do not meet articulated
vehicle curvature requirements. Simulation results show that the proposed hybrid path
planning method can search a feasible path with a 90-degree turn, which meets the
demand for obstacle avoidance and articulated vehicle back-and-forth movement.
Keywords
Cite This Article
Z. Chen, D. Wang, G. Chen, Y. Ren and D. Du, "A hybrid path planning method based on articulated vehicle model,"
Computers, Materials & Continua, vol. 65, no.2, pp. 1781–1793, 2020. https://doi.org/10.32604/cmc.2020.010902
Citations