无末姿态要求下Reeds-Shepp车的最优路径导航

An Optimal Path Navigation without Goal Direction Requirements for Reeds-Shepp Car

Reeds-Shepp路径的计算受末姿态的影响,无法直接在无末姿态要求的导航场景中应用。文章对Reeds-Shepp路径的规划应用进行研究,提出在无姿态要求下Reeds-Shepp车的最优路径导航方法,以及对应控制方案的生成规则。仿真数据证明了其在各种情形下的最优特性。利用该路径对导航方案进行设计能够有效降低自动驾驶车辆的行驶时间与运行成本,可广泛应用于军事工业以及民用的无人车、无人机、无人船等自动驾驶交通工具的导航系统,以实现控制其按最优路径行驶的目的。

Aimed at the problems that the calculation of the Reeds-Shepp path is influenced by the final attitude,and can not be used directly in the navigation scene without goal direction requirements,this paper proposes an optimal path navigation scheme of Reeds-Shepp and the generation rules of control schemes.Its optimal characteristics in various environmental conditions are verified by the simulation.This path can be utilized for designing the navigation scheme,can effectively reduce the driving time and operation cost of the automatic driving vehicle,in one word,can be widely used in the navigation system of automatic driving vehicles such as UGV,UAV,USV and so on,realizing the purpose of driving them along with the optimal path under control.