三种未知环境中局部危险避规方法的分析与比较

以智能车辆在部分或全未知环境中局部危险避规为研究对象,以二维雷达和摄像机为传感器实时检测局部障碍物信息. 通过对比分析普通加权、粒子吸引、仿生学筛选方法在触须避规路径选择上的应用,不同方法在规划时间、最优性、平滑度因素对纯避障环境中安全行驶的影响,确定不同环境应用的方法,实车验证了三种算法的正确和有效性,在2010年中国智能车未来挑战赛的单项纯避障环境中,应用该三种算法在不同的环境条件下取得了很好的效果.

Analysis and Comparison of Three Unknown Environment Local Avoiding Obstatcle Planning

Local avoidance planning of intelligent vehicle is targeted at unknown environment or part of unknown environment. 2D lidar scanner and camera sensors were equipped on the intelligent vehicle. The information map was provided by the real-time environmental information for the danger to avoid planning. Three algorithms were proved correctly by real vehicle experiment under different ordinary weight, particles attract, and bionics path selection for reaction tentacle to avoid in time, optimal and smoothness factor for pure obstacle avoidance environment. In the Future Challenge 2010 (intelligent vehicle challenge), single pure obstacle avoidance was applied in the environment of the three algorithms in different environmental conditions have got good results.