一种无人驾驶赛车路径规划算法研究

Research on a Path Planning Algorithm for Autonomous Race Cars

针对无人驾驶方程式比赛,设计一种适合无人驾驶赛车应用的局部路径规划算法。该算法利用四边形重心求解方法确定赛车在锥桶赛道环境下需要的路径离散点,并采用三次样条插值方法拟合曲线,从而实现赛车局部路径规划功能。在ROS系统中进行对无人驾驶赛车的路径规划仿真。结果表明:该算法能使赛车在不规则赛道中实现局部路径规划功能且曲线较为平滑,可以使赛车安全可靠地通过赛道,具有较好的鲁棒性。

Aiming at the driverless formula competition,a local path planning algorithm suitable for autonomous race applications is designed.This algorithm uses the quadrilateral gravity center solution method to determine the discrete points of the path required by the race car in the cone barrel track environment,and uses the cubic spline interpolation method to fit the curve to achieve the local path planning function of the race car.The path planning simulation of the autonomous race car is performed in the ROS system.The simulation results show that the algorithm can enable the race car to realize the local path planning function on irregular tracks,and the curve is relatively smooth,which can make the race car pass the track safely and reliably.The algorithm has better robustness.