基于ICP算法的无人方程式赛车路径规划

Path Planning of Formula Autonomous Car Based on ICP Algorithm

提出适合无人方程式赛车的路径规划算法,利用迭代最近点方法,将参考点集与当前点集进行迭代计算,得到两点集之间的关系函数,参考轨迹点集通过关系函数转换成赛车当前行驶轨迹点集。利用MATLAB进行无人方程式赛车的路径规划仿真,结果表明:该算法能较好地规划出赛车行驶轨迹,路径曲线平滑。

A path planning algorithm suitable for Formula Students Autonomous China was proposed.By using the iterative closest point(ICP)method,the iterative calculation of the reference point set and the current point set were performed to obtain the relationship function between the two point sets,and the reference trajectory point set was converted into the current driving trajectory point set of the car through the relationship function.The path planning simulation of formula autonomous car was carried out with MATLAB.The simulation results show that the algorithm can plan the driving path well,and the curve is smooth.