Research on local path planning of intelligent vehicle based on improved dynamic window approach

Peng Hang; Yan Yan; Xianlan Fu; Haishan Chen; Yingjie Liu

doi:10.1117/12.2671069

28 April 2023 Research on local path planning of intelligent vehicle based on improved dynamic window approach

Peng Hang, Yan Yan, Xianlan Fu, Haishan Chen, Yingjie Liu

Proceedings Volume 12610, Third International Conference on Artificial Intelligence and Computer Engineering (ICAICE 2022); 126105H (2023) https://doi.org/10.1117/12.2671069
Event: Third International Conference on Artificial Intelligence and Computer Engineering (ICAICE 2022), 2022, Wuhan, China

Abstract

In order to make the intelligent vehicle run safely and improve the applicability of local path planning algorithm in intelligent vehicle, the paper presents a local path planning method for intelligent vehicles. Firstly, establish vehicle model of Ackerman steering. In addition, the minimum turning radius constraint is added to the speed screening mechanism based on the traditional dynamic window approach. Then, in order to avoid excessive changes in the driving speed of intelligent vehicles, the curvature retention evaluation index is added to the evaluation function. The simulation results show that the improved algorithm meets the requirements of intelligent vehicle dynamic obstacle avoidance and can plan a safe and reasonable path.

Citation Download Citation

Peng Hang, Yan Yan, Xianlan Fu, Haishan Chen, and Yingjie Liu "Research on local path planning of intelligent vehicle based on improved dynamic window approach", Proc. SPIE 12610, Third International Conference on Artificial Intelligence and Computer Engineering (ICAICE 2022), 126105H (28 April 2023); https://doi.org/10.1117/12.2671069

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