Path Planning Method Of Autonomous Vehicle

With the development of modern technology, the study of robots is paid to more attentions. Especially, the technique of mobile robot has become one of the study hot spots. The technology of mobile robot is an advanced technology which has expansive application fields. From industrial manufacture to military spy, nuclear industry, aviation and spaceflight, service industry, medical instrument, engineering, etc, mobile robot has great development space in all of these fields. Path planning problem is one of the most basic and pivotal aspects in the research of mobile robot.This paper describes the development of autonomous vehicles, domestic and international status, composition principles and key technologies. Then he focuses on the path planning methods used, and described the advantages and disadvantages of path planning trends.This paper describes the potential field and potential field grid basic principle and for autonomous vehicle path planning problem, by reading a lot of literature, in considering the autonomous vehicle ride comfort and on the basis of their own stability, grid method for potential problems is improved. The fuzzy decision-making and potential grid method of combining organic, the first autonomous vehicle with the grid method on the grid by the work environment, the size of the grid is independent in accordance with the size of the vehicle itself;then the A * algorithm is combined with the potential field to form the heuristic function, and with the heuristic function to determine the CV value of the grid, thus establishing a complete grid potential field methods and models of the basic framework;finally, the three then combined with fuzzy decision making, the introduction of the concept of heading, the establishment of CV values and the membership function of heading angle, and finally select the membership function reaches the maximum value as the target point of the sub-target point,The algorithm is simulated in MATLAB, the method inherits the artificial potential field method is simple and good real-time, by simulation, and with the other path planning methods are compared, the simulation results show the effectiveness and advantages of this method。Finally, the potential field method based on the grid, providing solutions in dynamic environment.Research of this subject is based on the Natural Science Foundation of Hebei Province on the basis of No.E2008000098 carried out.