Research on unmanned driving path planning algorithm based on Robot Operating System

Abstract With the rapid development of communication and computer technology In recent years, automatic driving has attracted much attention. By using path planning technology, AV can automatically find an optimal to destination while avoiding obstacles, so as reduce transportation costs, improve efficiency, customer satisfaction traffic accidents, which is important meaning spurring further intelligent transportation. Two algorithms driverless are studied, one A* algorithm for global planning, another timed elastic band (TEB) local planning. Firstly, direction exploration domain traditional improved by adding smooth planned path.t. Secondly, some parameters TEB adjusted make car stay away from obstacles run more safely. Finally, on mobile robot platform equipped with ROS operating system, hybrid realized combining these two algorithms, simulation experiment under a real environment carried out. Experiment results show that proposed method autonomously plan navigation smoothly.