基于Dubins路径的智能车辆路径规划算法

Intelligent Vehicles Path Planning Algorithm Based on Dubins Path

路径规划是车辆智能化的核心问题之一,而所有路径均可分解为简单的Dubins路径。在Dubins路径的思想下对智能车辆的行驶路径进行分段研究,并利用经典PID控制对该算法的执行性能进行检验。研究表明:算法能计算出车辆行驶的最短路径,减少了车辆行驶的路径长度,缩短了行驶时间,减少了控制系统的计算量,提高了车辆执行系统的执行力度,降低了执行误差,对最优路径具有较好的选择性。

The path planning is one of the core issues of intelligent vehicles. All paths can be decomposed into Dubins path. This paper sectionally researches into the intelligent vehicles’travel path under the idea of Dubins path and carries out tests on the execution performance of the algorithm using PID control strategy. Researches showed that this algorithm can calculate the vehicles’shortest path,reduce the vehicles’path length,shorten the time of driving,reduce the computation amount of the control system,improve the enforcement of the vehicle execution system,reduce the execution error,and have a good selectivity of the optimal path.