Robust path planning for avoiding obstacles using time-environment dynamic map

Zhao, Xiaolin; Zhao, Boxin

doi:10.1177/0020294019847704

Cited by 7 publications

(6 citation statements)

References 19 publications

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“…The parallel parking in one maneuver is implemented under the conditions that the length and width of the parking space are set to the minimum length and the minimum width of the parking space and the coordinate of the starting point is set to [4,3]. The simulation results are shown in Figure 13.…”

Section: Parallel Parking In One Maneuvermentioning

confidence: 99%

“…The parallel parking in multiple maneuvers is implemented under the conditions that the coordinate of the starting point is set to [4,3], the width of the parking space is set to the minimum width of the parking space and the length of the parking space is set to 5.173 m, which is smaller than the minimum length of the parking space. The simulation results are shown in Figure 14.…”

Section: Parallel Parking In Multiple Maneuversmentioning

confidence: 99%

“…One major challenge of developing the autonomous parking comes from the fact that it has low computation cost and meets non-holonomic constraints of the vehicle. 4 For the challenge, numerous experts and scholars have been committed to research works of this topic and many different methods have been utilized.…”

Section: Introductionmentioning

confidence: 99%

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Trajectory planning and tracking control for autonomous parallel parking of a non-holonomic vehicle

Zhang

Zheng-tang²,

Yang³

et al. 2020

Measurement and Control

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This paper proposes autonomous parallel parking for a front-wheel steering vehicle, with highlights on a trajectory planning method and on a trajectory tracking control method. The trajectory planning problem is decoupled into the path planning problem and the longitudinal velocity planning problem to reduce the difficulty of the trajectory planning problem. First, a collision-free path by combining circle arcs with straight line is created to park the vehicle in one or more maneuvers on the premise of meeting the kinematic constraint of vehicle, and then the path is transformed into a continuous-curvature path using B-spline curve. Second, the longitudinal velocity is created using B-spline curve on the premise of meeting the performance constraints of driving and braking system. To execute the generated trajectory, a non-time reference path tracking sliding mode control strategy is deduced by Lyapunov stability theory, and a longitudinal velocity tracking proportional–integral control strategy is proposed based on smooth handoff method. Finally, the parking performance is verified based on model-in-the-loop simulation system.

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Section: Parallel Parking In One Maneuvermentioning

confidence: 99%

Section: Parallel Parking In Multiple Maneuversmentioning

confidence: 99%

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Trajectory planning and tracking control for autonomous parallel parking of a non-holonomic vehicle

Zhang

Zheng-tang²,

Yang³

et al. 2020

Measurement and Control

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“…The heuristic algorithms [3][4][5][6][7] are typical for path planning methods, which will provide globally optimal paths for agents. Considering the lack of dynamic constraints, intelligent algorithms, 8 points selecting, 5 cost function revision, 6 and the Bessel curve and Dubins curve [9][10][11][12] are used to smooth the paths.…”

Section: Introductionmentioning

confidence: 99%

Collision and obstacle avoidance strategy for multi-agent systems with velocity dynamic programing

Xiong

Liu

Luo

2022

Measurement and Control

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This paper conducts research on collision and obstacle avoidance of multi-agent systems without mapping ability, while the constrained agent can only detect obstacles within a limited distance, then a velocity programing strategy is proposed considering the lack of a high-resolution map and the challenge of the modeling of complex obstacles. Based on the detecting information of nearby members and obstacles, a discontinuous velocity programing space is constructed by imposing the constraints on the velocity. To obtain expansive programing space, two different ways are utilized to establish the velocity constraints of avoiding various obstacles. For obstacles that can be viewed as virtual circular obstacles, a barrier function is introduced to restrict the radial component of the velocity. As for the obstacle that can only be detected partially, we use the border lines to construct a velocity feasible domain, and the domain is approximated by the polygonal region using the convex theory. Then, the nominal velocity is utilized as the objective and a nonlinear dynamic programing regulator is proposed. Furtherly, velocity limits generated from the system kinematic constraints are incorporated into the regulator. Finally, three tests are carried out and the feasibility of the proposed regulator is verified.

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“…The authors in [8] proposed a novel Predator-Prey Pigeon-Inspired Optimization (PPPIO) to solve the Uninhabited Combat Aerial Vehicle (UCAV) 3D path planning problem in a dynamic environment. In [9], a novel integrated path planning approach based on an A* algorithm and local trace-back model has been proposed to solve such kind of hard problems. The authors in [10] developed an Improved Artificial Bee Colony (IABC) algorithm to solve the path planning problem in an environment of dynamic threats thanks to its fewer control parameters and faster convergence.…”

Section: Introductionmentioning

confidence: 99%

Path Planning of Quadrotors in a Dynamic Environment Using a Multicriteria Multi-Verse Optimizer

Jarray¹,

Al‐Dhaifallah²,

Rezk³

et al. 2021

Computers, Materials &Amp; Continua

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Paths planning of Unmanned Aerial Vehicles (UAVs) in a dynamic environment is considered a challenging task in autonomous flight control design. In this work, an efficient method based on a Multi-Objective Multi-Verse Optimization (MOMVO) algorithm is proposed and successfully applied to solve the path planning problem of quadrotors with moving obstacles. Such a path planning task is formulated as a multicriteria optimization problem under operational constraints. The proposed MOMVO-based planning approach aims to lead the drone to traverse the shortest path from the starting point and the target without collision with moving obstacles. The vehicle moves to the next position from its current one such that the line joining minimizes the total path length and allows aligning its direction towards the goal. To choose the best compromise solution among all the non-dominated Pareto ones obtained for compromise objectives, the modified Technique for Order Preference by Similarity to Ideal Solution (TOPSIS) is investigated. A set of homologous metaheuristics such as Multiobjective Salp Swarm Algorithm (MSSA), Multi-Objective Grey Wolf Optimizer (MOGWO), Multi-Objective Particle Swarm Optimization (MOPSO), and Non-Dominated Genetic Algorithm II (NSGAII) is used as a basis for the performance comparison. Demonstrative results and statistical analyses show the superiority and effectiveness of the proposed MOMVO-based planning method. The obtained results are satisfactory and encouraging for future practical implementation of the path planning strategy.

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Robust path planning for avoiding obstacles using time-environment dynamic map

Cited by 7 publications

References 19 publications

Trajectory planning and tracking control for autonomous parallel parking of a non-holonomic vehicle

Trajectory planning and tracking control for autonomous parallel parking of a non-holonomic vehicle

Collision and obstacle avoidance strategy for multi-agent systems with velocity dynamic programing

Path Planning of Quadrotors in a Dynamic Environment Using a Multicriteria Multi-Verse Optimizer

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