Research on Autonomous Vehicle Path Planning Algorithm Based on Improved RRT* Algorithm and Artificial Potential Field Method
Xiang Li,
Gang Li,
Zijian Bian
Abstract:For the RRT* algorithm, there are problems such as greater randomness, longer time consumption, more redundant nodes, and inability to perform local obstacle avoidance when encountering unknown obstacles in the path planning process of autonomous vehicles. And the artificial potential field method (APF) applied to autonomous vehicles is prone to problems such as local optimality, unreachable targets, and inapplicability to global scenarios. A fusion algorithm combining the improved RRT* algorithm and the impro… Show more
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