运动规划
弹道
计算机科学
路径(计算)
数学优化
采样(信号处理)
图层(电子)
过程(计算)
Dijkstra算法
沃罗诺图
轨迹优化
随机树
树(集合论)
最短路径问题
最优控制
数学
人工智能
机器人
计算机视觉
几何学
滤波器(信号处理)
程序设计语言
化学
有机化学
理论计算机科学
数学分析
图形
物理
天文
操作系统
作者
Runda Zhang,Runqi Chai,Senchun Chai,Yuanqing Xia,Antonios Tsourdos
出处
期刊:IEEE Transactions on Industrial Electronics
[Institute of Electrical and Electronics Engineers]
日期:2024-02-01
卷期号:71 (2): 1811-1822
被引量:1
标识
DOI:10.1109/tie.2023.3250847
摘要
This paper proposes a two-layer trajectory optimization method for the autonomous ground vehicle (AGV). This twolayer strategy includes an efficient path planning layer and a fast trajectory planning layer. In the first layer, a novel target area adaptive rapidly exploring random tree algorithm (TAA-RRT*) is proposed to search the shortest path. This layer mainly includes a preprocessing and a sampling planning process. In the preprocessing process, the generalized voronoi diagram (GVD) is used to construct the environment information and find the initial path. Then, the sampled target area (TA) is constructed based on this initial path to provide non-uniform sampling. In the sampling planning process, the improved adaptive RRT* algorithm is used to carry out sampling planning in the TA, and the direct connection strategy (DCS) is combined to quickly locate the optimal solution. In the trajectory planning layer, combined with the constraints of the unmanned vehicle and the path constraints obtained in the first layer, the speed planning and the trajectory optimization are addressed by solving the optimal control problem (OCP). After performing a large number of experiments, the feasibility and effectiveness of the proposed method is verified.
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