基于均匀B样条曲线的移动小车路径规划方法

PATH PLANNING METHOD OF MOBILE CAR BASED ON UNIFORM B-SPLINES CURVE

传统路径搜索算法不能满足移动小车行进过程中的安全性和运动可行性的需求,因此提出一种基于均匀B样条曲线的移动小车路径规划方法。前端采用运动学路径搜索方法,在离散化的控制空间中寻找一条无碰撞的、运动可行的、时间最短的初始路径。后端利用均匀B样条曲线的凸包性质,将障碍物的距离信息和移动小车的运动约束有效地结合在一起,通过软约束方法优化初始路径的光滑度和安全性。采用重新规划路径机制,使得移动小车能够在动态环境下找到一条安全的路径。实验结果表明:在各种复杂的仿真环境中,该方法具有良好的安全性和运动可行性。

The traditional path search algorithm cannot meet the requirements of safety and kinematics feasibility in the traveling process of the mobile car,so a path planning method of mobile car based on uniform B-splines curve is proposed.The front-end adopted a kinodynamic path searching method to find a collision-free,kinodynamic feasible,and minimum-time initial path in the discrete control space.The back-end used the convex hull properties of the uniform B-spline curve to effectively combine the distance information of obstacles and the motion constraints of the moving car,and the smoothness and safety of the initial path were optimized through the soft-constrained method.The re-planning path mechanism was adopted to enable the mobile car to find a safe path in a dynamic environment.The experimental results show that the method has good safety and kinodynamic feasibility in various complex simulation environments.