基于IFGM-IDWA融合算法的智能小车路径规划
Intelligent vehicle path planning based on IFGM-IDWA fusion algorithm
杜琼 1杜峰 1王铎 2季鹏昊 2程剑锋 2齐蕾2
作者信息
- 1. 天津职业技术师范大学汽车与交通学院,天津 300222;智能车路协同与安全技术国家地方联合工程研究中心,天津 300222
- 2. 天津职业技术师范大学汽车与交通学院,天津 300222
- 折叠
摘要
针对动态窗口法在动态障碍物环境下避障效果差、路径非最优等问题,将改进间隙跟踪法(improved follow the gap method,IFGM)与改进动态窗口法(improved dynamic window approach,IDWA)进行融合.改进间隙跟踪法的效用函数考虑障碍物间的间隙大小和智能小车与目标坐标的夹角来寻找可行间隙及合理的航向角;在DWA原有评价函数中引入动态避障函数,使智能小车在面对多个动态障碍物时能灵敏地控制速度,以达到敏捷避障目的.实验结果表明:与传统DWA算法相比,IFGM-IDWA融合算法减少了15%～25%的碰撞率,能够更加灵活地控制智能小车的平移速度和旋转速度,更加有效地保证智能小车运动过程中的安全性,且减少了时间消耗,提高了运动效率.
Abstract
Aiming at the problems such as poor obstacle avoidance performance and suboptimal path planning,this study proposes a fusion of Improved Follow the Gap Method(IFGM)and Improved Dynamic Window Approach(IDWA).Firstly,the utility function of follow the gap method is improved,and the feasible gap and reasonable heading Angle are located by considering the gap between obstacles and the angle between the intelligent car and the target coordinates.Then,the dy-namic obstacle avoidance function is introduced into the original evaluation function of Dynamic Window Approach(DWA),so that the intelligent car can control the speed sensitively when facing multiple dynamic obstacles,so as to achieve agile obstacle avoidance.Experiments show that compared with the traditional DWA algorithm,IFGM-IDWA fusion algorithm can reduce the collision avoidance rate by 15%～25%,and allow for more flexible control of the intelligent vehicle's translational and rotational speeds,ensure the safety of the intelligent car in the process of motion more effectively,reduce time consumption,and improve the movement efficiency.
关键词
智能小车/动态窗口法/间隙跟踪法/动态障碍物/路径规划/避障Key words
intelligent car/dynamic window method/follow the gap method/dynamic obstacles/path planning引用本文复制引用
基金项目
天津市研究生科研创新项目(2022SKYZ385)
出版年
2024
NETL
NSTL
万方数据