Multi-vehicle Formation Switching Trajectory Planning Based on Bézier Curve and Multi-objective Optimization Method
A new trajectory planning method for multi-vehicle formation switching based on Bessel curve and multi-objective optimization is proposed.The trajectory planning problem is divided into two parts:trajectory shape planning and velocity planning.Based on collision avoidance safety,track smoothness and shortest path length rules,a multi-objective optimization method is used to score the track group,so as to select the optimal switching track that meets the formation switching process.The results show that the selected formation switching trajectory group can satisfy the state constraint,curvature continuous bounded constraint,speed continuous constraint,no collision risk constraint,ride comfort constraint and shortest path constraint,and is suitable for actual vehicle running without large trajectory deviation or excessive acceleration and deceleration.
万方数据
维普
