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Path Planning of UGV Based on Bézier Curves
Hu YM(胡艳明)1,2,3; Li DC(李德才)1,2; He YQ(何玉庆)1,2; Han JD(韩建达)1,2,4
Department机器人学研究室
Source PublicationRobotica
ISSN0263-5747
2019
Volume37Issue:6Pages:969-997
Indexed BySCI ; EI
EI Accession number20190406426036
WOS IDWOS:000467223900001
Contribution Rank1
Funding OrganizationNature Sciences Foundation of China ; Chinese Academy of Sciences ; State Key Laboratory of Robotics
KeywordPath planning Bézier curves Unmanned ground vehicle Comfortable driving Speed planning
AbstractSummaryAn effective path planner is critical for autonomous traversal of unmanned ground vehicles (UGVs) in harsh environments. This paper describes a novel path planning method considering Bézier curves and a two-layer planning framework. In the two-layer framework, a road centerline (RCL) estimator located on the upper layer works as a global planner to obtain the local target for the bottom local planner. The RCL is estimated from a series of candidate Bézier curves based on a safety criterion. In the bottom layer, an optimal trajectory planner and a speed planner make up the local planner to obtain the desired steering turning angle and linear speed. The criteria for optimal trajectory selection are designed for comfortable driving. Road safety is considered in the speed planner for robust driving. Three sets of simulations are used to evaluate and quantify the relative performance of variations of our path planning algorithm. The proposed path planning method is implemented on a modified Polaris RZR 800 UGV, too. Two experiments based on this UGV are set up in the country road environment to demonstrate the viability of the proposed method.
Language英语
WOS SubjectRobotics
WOS KeywordTERRAIN AUTONOMOUS MOBILITY ; ROBOT NAVIGATION
WOS Research AreaRobotics
Funding ProjectNature Sciences Foundation of China[U1608253] ; Nature Sciences Foundation of China[91748208] ; Chinese Academy of Sciences[6141A01061601] ; State Key Laboratory of Robotics[2017-Z07] ; Nature Sciences Foundation of China[U1608253] ; Nature Sciences Foundation of China[91748208] ; Chinese Academy of Sciences[6141A01061601] ; State Key Laboratory of Robotics[2017-Z07]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24110
Collection机器人学研究室
Corresponding AuthorHe YQ(何玉庆)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.College of Artificial Intelligence, Nankai University, Tianjing 300071, China
Recommended Citation
GB/T 7714
Hu YM,Li DC,He YQ,et al. Path Planning of UGV Based on Bézier Curves[J]. Robotica,2019,37(6):969-997.
APA Hu YM,Li DC,He YQ,&Han JD.(2019).Path Planning of UGV Based on Bézier Curves.Robotica,37(6),969-997.
MLA Hu YM,et al."Path Planning of UGV Based on Bézier Curves".Robotica 37.6(2019):969-997.
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