Sine Resistance Network-Based Motion Planning Approach for Autonomous Electric Vehicles in Dynamic Environments

被引：30

作者：

Huang, Tenglong ^{[1
,2
]}

Pan, Huihui ^{[3
,4
]}

Sun, Weichao ^{[5
]}

Gao, Huijun ^{[6
,7
]}

机构：

[1] Harbin Inst Technol, Res Inst Intelligent Control & Syst, Harbin 150001, Peoples R China

[2] Ningbo Inst Intelligent Equipment Technol Co Ltd, Ningbo 315200, Peoples R China

[3] Harbin Inst Technol, Res Inst Intelligent Control & Syst, Harbin 150001, Peoples R China

[4] Harbin Inst Technol, Robot Innovat Ctr, Harbin 150001, Peoples R China

[5] Harbin Inst Technol, Res Inst Intelligent Control & Syst, Harbin 150001, Peoples R China

[6] Harbin Inst Technol, Res Inst Intelligent Control & Syst, Harbin 150001, Peoples R China

[7] Peng Cheng Lab, Dept Math & Theories, Shenzhen 518055, Peoples R China

来源：

IEEE TRANSACTIONS ON TRANSPORTATION ELECTRIFICATION | 2022年 / 8卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Planning; Roads; Resistance; Electric vehicles; Heuristic algorithms; Electric potential; Vehicle dynamics; Autonomous electric vehicles; bias oval artificial potential field; collision free; motion planning; sine resistance network; POTENTIAL-FIELD; PATH; ROBOTS;

D O I：

10.1109/TTE.2022.3151852

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This article proposes a motion planning approach for autonomous electric vehicles to generate an appropriate planned path according to the time-varying surrounding information. This approach utilizes the proposed novel sine resistance network to mesh the road with the aim of improving the planned path smoothness, which has the capability of generating a continuous-curvature planned path that contributes to tracking and reducing the jerkiness. Meanwhile, considering that the classical artificial potential field (APF) method is only suitable for the static scenarios, a bias oval APF is constructed to predict the change of relative distance between the ego vehicle and each obstacle by taking the speed information into account. The proposed planning approach can ensure that the planned path is collision-free in dynamic environments and the generated path is smooth simultaneously. Cosimulation results in CarSim and MATLAB/Simulink are provided to prove the advantage and feasibility of the proposed motion planning approach for autonomous electric vehicles.

引用

页码：2862 / 2873

页数：12