Research on local path planning of intelligent vehicle based on improved dynamic window approach

Abstract

In order to make the intelligent vehicle run safely and improve the applicability of local path planning algorithm in intelligent vehicle, the paper presents a local path planning method for intelligent vehicles. Firstly, establish vehicle model of Ackerman steering. In addition, the minimum turning radius constraint is added to the speed screening mechanism based on the traditional dynamic window approach. Then, in order to avoid excessive changes in the driving speed of intelligent vehicles, the curvature retention evaluation index is added to the evaluation function. The simulation results show that the improved algorithm meets the requirements of intelligent vehicle dynamic obstacle avoidance and can plan a safe and reasonable path.