摘要
采用高精度地图构建技术还原路况信息,结合A*算法使智能车能够在导航不起作用的情况下按照规划路径进行无障碍行驶。将高精度地图用栅格数据模型表示,在标记为有障碍的栅格模型中,为机器人寻找一条恰当的从起始点到目标点的运动路径,且可以使机器人在运动过程中安全、无碰撞地绕过障碍物。通过在无人驾驶智能车平台上仿真实验表明,这种方法具有形式简单规范、一致性好并容易在计算机中实现的优点。
This study uses high-precision map to restore traffic information,combining with A＊algorithm to make the driverless car travel according to the planned path without GPS. The high-precision map is presented in the form of raster model. A＊algorithm can find a proper path from the starting point to end point for mobile robots in the environment which is presented in the form of raster and full of barriers. Through simulation experiments,it turns out that this method has the advantage of simplification,consistency and easy implementation on computer.
出处
《北京联合大学学报》
CAS
2016年第2期31-39,共9页
Journal of Beijing Union University
基金
国家自然科学基金重大研究计划项目(91420202)
关键词
路径规划
自主导航
高精度地图
A＊算法
栅格数据模型
Path planning
Autonomous navigation
High-precision map
A＊algorithm
Raster data model
