基于全向路口模型的非结构化道路重复节点路径规划

Route Planning of Unstructured Road Including Repeat Node Based on Bidirectional Search

针对非结构化道路重复节点的全局导航路径规划问题,首先提出了一种基于全向路口结构并满足转向约束的地图模型构建方法,在传统导航地图的基础上对路口结构进行细化,以转向为基本单元设置导航节点,并进行转向约束处理,确保不同节点形成拓扑关系时满足转向约束;然后,根据所构建的模型设计了基于双向搜索的A*算法,分别从起点和终点展开路径搜索,直至获取最优路径;最后,在某野外实验场环境中展开对比实验,结果表明,基于所提地图模型所得的全局路径满足转向约束要求,且能够有效解决重复节点的路径规划问题。

Aiming at high-precision navigation route planning around unstructured environment with repeat node,firstly,we propose a map model construction method based on all-direction intersection structure,taking the turn constraint into account.Based on the traditional navigation map,the intersection structure is refined more detailed with the navigation node set based on turn,and the turning constraint is processed to ensure that the turning constraint are met when topology relation is formed between different nodes.Then,A^(*)algorithm based on bidirectional search is designed according to the model to solve the route planning problem of unstructured road with repeated node,which expands the route search from the origin and the destination meanwhile until the optimal route is obtained.Finally,a comparative experiment is carried out around a field environment.Results show that route obtained based on the map model in this paper can satisfy the restriction of turning constraint and effectively solve the problem of repeat node route planning.