Title :
The Path Planning Algorithm Research Based on Cost Field for Autonomous Vehicles
Author :
Yu Yong ; Wang Meiling
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
This path planning algorithm is used for the autonomous vehicle driving in the unstructured road. The gradient grid which is obtained from the point cloud data is used as the cost field. Considering the traffic-ability of autonomous vehicle, the cost field needs to be corrected by the High-resolution gradient and elevation grid in this paper. Then transforming the grid model into the network-node model. In this way, the cost field model can be used for the optimal path algorithm, such as the Dijkstra algorithm.
Keywords :
control engineering computing; geographic information systems; gradient methods; path planning; road vehicles; traffic engineering computing; Dijkstra algorithm; GIS; autonomous vehicle driving; cost field; elevation grid; gradient grid; high-resolution gradient; network-node model; optimal path algorithm; path planning algorithm research; point cloud data; traffic-ability; unstructured road; Algorithm design and analysis; Geographic information systems; Mobile robots; Navigation; Path planning; Roads; Transforms; GIS; autonomous vehicle; cost field; optimal path;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2012 4th International Conference on
Conference_Location :
Nanchang, Jiangxi
Print_ISBN :
978-1-4673-1902-7
DOI :
10.1109/IHMSC.2012.105
