北京市自然基金(No. 3212013), 中国汽车工程学会青年托举人才(No. YESS20200301), 北京市科协金桥工程
1.School of Mechanical Engineering,Beijing Institute of Technology,Beijing;2.Beijing North Vehicle Group Co,Ltd,Beijing
To realize efficient path exploration of unmanned platforms in unknown environments, a path planning algorithm based on a hierarchical architecture of "perception planning control" is studied in this work. Real-time construction of two-dimensional grid maps of unknown environments using the Cartographer mapping algorithm at the perception layer. At the planning level, the optimal exploration target point is selected by Canny edge detection, density-based clustering algorithm, and performance function evaluation. Specifically, the concept of continuity of exploration direction is introduced into the efficiency function of planning, overcoming the drawbacks of traditional path planning that repeatedly explores known environments. At the control layer, the shortest path from the current pose to the target point is planned using probability roadmap algorithm, and collision-free tracking of the path is achieved through pure tracking algorithm and vector histogram algorithm. The effectiveness of the algorithm was verified through simulation in three typical environments, and the results showed that the proposed algorithm can achieve higher exploration efficiency and completeness in different environments.
FAN Jie, ZHANG Xudong, GEN Jiangbo, et al. Hierarchical Path Planning Algorithm for Exploring Unknown Environments[J]. Journal of Integration Technology.