LU102942B1 - Path planning method based on improved a* algorithm in off-road environment - Google Patents
Path planning method based on improved a* algorithm in off-road environment Download PDFInfo
- Publication number
- LU102942B1 LU102942B1 LU102942A LU102942A LU102942B1 LU 102942 B1 LU102942 B1 LU 102942B1 LU 102942 A LU102942 A LU 102942A LU 102942 A LU102942 A LU 102942A LU 102942 B1 LU102942 B1 LU 102942B1
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- road
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- path
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- 238000004422 calculation algorithm Methods 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000007613 environmental effect Effects 0.000 claims abstract description 13
- 238000005457 optimization Methods 0.000 claims abstract description 9
- 239000011159 matrix material Substances 0.000 claims abstract description 6
- 238000011156 evaluation Methods 0.000 claims description 13
- 230000035945 sensitivity Effects 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000002457 bidirectional effect Effects 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000002068 genetic effect Effects 0.000 description 2
- 230000001066 destructive effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Traffic Control Systems (AREA)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210377702.6A CN114706400B (zh) | 2022-04-12 | 2022-04-12 | 一种越野环境下基于改进的a*算法的路径规划方法 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| LU102942B1 true LU102942B1 (en) | 2022-12-01 |
Family
ID=82172174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| LU102942A LU102942B1 (en) | 2022-04-12 | 2022-05-06 | Path planning method based on improved a* algorithm in off-road environment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114706400B (zh) |
| LU (1) | LU102942B1 (zh) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115795697B (zh) * | 2023-01-31 | 2023-04-21 | 中国电子科技集团公司第二十八研究所 | 一种基于空间网格的复杂环境下野外机动通道生成方法 |
| CN116147653B (zh) * | 2023-04-14 | 2023-08-22 | 北京理工大学 | 一种面向无人驾驶车辆的三维参考路径规划方法 |
| CN116481557B (zh) * | 2023-06-20 | 2023-09-08 | 北京斯年智驾科技有限公司 | 一种路口通行路径规划方法、装置、电子设备及存储介质 |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5402057B2 (ja) * | 2009-02-16 | 2014-01-29 | トヨタ自動車株式会社 | 移動ロボット制御システム、経路探索方法、経路探索プログラム |
| WO2019139815A1 (en) * | 2018-01-12 | 2019-07-18 | Duke University | Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects |
| WO2020247207A1 (en) * | 2019-06-03 | 2020-12-10 | Realtime Robotics, Inc. | Apparatus, methods and articles to facilitate motion planning in environments having dynamic obstacles |
| CN110851948B (zh) * | 2019-08-27 | 2020-07-31 | 清华大学 | 非结构化道路条件下的行车环境态势评估方法及评估装置 |
| CN111879328B (zh) * | 2020-07-07 | 2021-02-23 | 清华大学 | 一种越野环境下基于势能场概率图的智能车路径规划方法 |
| CN111780777B (zh) * | 2020-07-13 | 2022-10-21 | 江苏中科智能制造研究院有限公司 | 一种基于改进a*算法和深度强化学习的无人车路径规划方法 |
| CN112325892B (zh) * | 2020-10-10 | 2023-08-25 | 南京理工大学 | 一种基于改进a*算法的类三维路径规划方法 |
| CN112947406A (zh) * | 2021-01-14 | 2021-06-11 | 华南理工大学 | 一种基于FLOYD和Astar的混合路径规划方法 |
| CN113126618B (zh) * | 2021-03-17 | 2022-03-11 | 中国科学院合肥物质科学研究院 | 一种越野环境下的无人驾驶全局路径规划及重规划方法 |
| CN113156886A (zh) * | 2021-04-30 | 2021-07-23 | 南京理工大学 | 一种智能物流路径规划方法及系统 |
-
2022
- 2022-04-12 CN CN202210377702.6A patent/CN114706400B/zh active Active
- 2022-05-06 LU LU102942A patent/LU102942B1/en active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114706400A (zh) | 2022-07-05 |
| CN114706400B (zh) | 2023-04-07 |
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