scholarly journals Autonomous land vehicle path planning algorithm based on improved heuristic function of A-Star

2021 ◽  
Vol 18 (5) ◽  
pp. 172988142110427
Author(s):  
Jing Zhang ◽  
Jun Wu ◽  
Xiao Shen ◽  
Yunsong Li
Keyword(s):  
Path Planning ◽  
Turning Points ◽  
Field Method ◽  
Heuristic Function ◽  
Distance Information ◽  
Land Vehicle ◽  
Planning Algorithm ◽  
Vehicle Path ◽  
Autonomous Movement ◽  
Path Planning Algorithm

The path planning of autonomous land vehicle has become a research hotspot in recent years. In this article, we present a novel path planning algorithm for an autonomous land vehicle. According to the characteristics of autonomous movement towards the autonomous land vehicle, an improved A-Star path planning algorithm is designed. The disadvantages of using the A-Star algorithm for path planning are that the path planned by the A-Star algorithm contains many unnecessary turning points and is not smooth enough. Autonomous land vehicle needs to adjust its posture at each turning point, which will greatly waste time and also will not be conducive to the motion control of autonomous land vehicle. In view of these shortcomings, this article proposes a new heuristic function combined with the artificial potential field method, which contains both distance information and obstacle information. Our proposed algorithm shows excellent performance in improving the execution efficiency and reducing the number of turning points. The simulation results show that the proposed algorithm, compared with the traditional A-Star algorithm, makes the path smoother and makes the autonomous land vehicle easier to control.

Off-Road Vehicle Path Planning Using Geodesics on a Multifactor Terrain Model

2020 ◽  
Author(s):  
Dakota Barthlow ◽  
Vijitashwa Pandey ◽  
David Gorsich ◽  
Paramsothy Jayakumar
Keyword(s):  
Path Planning ◽  
The United States ◽  
United States Geological Survey ◽  
Composite Surface ◽  
Factors Affecting ◽  
Terrain Model ◽  
Planning Algorithm ◽  
Vehicle Path ◽  
Path Planning Algorithm ◽  
Future Work

Abstract Optimal navigation of wheeled or tracked vehicles through a particular off-road terrain is primarily governed by terrain properties, and the capabilities of the vehicle itself. Reconciling vehicle operation with a terrain’s trafficability, termed mobility mapping, is a complex and multi-faceted problem that involves geophysics, vehicle dynamics, optimization, meta-modeling, and statistical modeling. A mobility map in turn informs path planning, which is the process of creating optimal routes through the trafficable areas to successfully arrive at a destination. This optimality can be in the sense of the length of the path taken, energy consumption, or any other metric that the operator considers important. This paper presents a procedure that first models the terrain by including factors affecting trafficability, uses a kriging interpolator for terrain modeling, then utilizes an existing path planning algorithm to create a rough path between start and goal points. Subsequently, a differential geometry based algorithm is presented to optimize the path. In the proposed method, the height of the terrain is augmented with multiple factors beneficial or detrimental to mobility to define a composite surface, thereby simultaneously considering them in path planning. A geodesic connecting the start and goal points is then found on this composite surface. We present examples on terrains acquired from geospatial data gateway of the United States Geological Survey, showing the efficacy of the method. Comparisons with an existing approach are made and avenues for future work are also identified.

A Study of Path Planning Algorithm in VANETs

2014 ◽  
Vol 602-605 ◽  
pp. 3503-3507
Author(s):  
Ling Zhang
Keyword(s):  
Path Planning ◽  
Ant Colony Optimization ◽  
Intelligent Transportation System ◽  
Intelligent Transportation ◽  
Transportation System ◽  
Ant Colony ◽  
Guidance System ◽  
Planning Algorithm ◽  
Vehicle Path ◽  
Path Planning Algorithm

Based on GPS and RFID technology, a vehicle path planning guidance system is analyzed in this paper. Specially, the ant colony optimization in the vehicle path planning application of Internet in vehicles environment is proposed, and an improved strategy is put forward to provide an efficient path planning algorithm for the construction of intelligent transportation system. As an alternative of wireless radio and guidance display screen and other primary induction means, the ant colony optimization in this work could supply some significant exploring and thinking for currently construction of the intelligent transportation system.

A Vehicle Path Planning Algorithm Using Polar Polynomials Optimized Through Fuzzy Logic

2000 ◽  
Vol 33 (26) ◽  
pp. 139-144 ◽  
Author(s):  
J.Ph. Lauffenburger ◽  
M. Basset ◽  
F. Coffin ◽  
G.L. Gissinger
Keyword(s):  
Fuzzy Logic ◽  
Path Planning ◽  
Planning Algorithm ◽  
Vehicle Path ◽  
Path Planning Algorithm
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