Robust Path Planning Of Obstacle Avoidance For Unmanned delivery robot
نویسندگان
چکیده
Aiming at complex road conditions and difficult path planning of semi-structured roads in a park, robust method based on sequential quadratic programming (SQP) algorithm optimization is proposed. Firstly, an improved vector field histogram (VFH) used to determine the optimal passable area, then determination target state given area; Secondly, according starting point state, description obstacle avoidance piecewise Bezier curve. Then, problem curve parameter established vehicle running curvature constraint direction change margin point, SQP optimize parameters; Finally, effectiveness practicability proposed are verified by simulation experiments real experiments. Compared with other methods, this has shortest better robustness. DOI: 10.61416/ceai.v25i2.8595
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ژورنال
عنوان ژورنال: Control Engineering and Applied Informatics
سال: 2023
ISSN: ['1454-8658']
DOI: https://doi.org/10.61416/ceai.v25i2.8595