Apollo: Adaptive Polar Lattice-Based Local Obstacle Avoidance and Motion Planning for Automated Vehicles
The motion planning module is the core module of the automated vehicle software system, which plays a key role in connecting its preceding element, i.e., the sensing module, and its following element, i.e., the control module. The design of an adaptive polar lattice-based local obstacle avoidance (A...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/4/1813 |
| _version_ | 1797618319320154112 |
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| author | Yiqun Li Zong Chen Tao Wang Xiangrui Zeng Zhouping Yin |
| author_facet | Yiqun Li Zong Chen Tao Wang Xiangrui Zeng Zhouping Yin |
| author_sort | Yiqun Li |
| collection | DOAJ |
| description | The motion planning module is the core module of the automated vehicle software system, which plays a key role in connecting its preceding element, i.e., the sensing module, and its following element, i.e., the control module. The design of an adaptive polar lattice-based local obstacle avoidance (APOLLO) algorithm proposed in this paper takes full account of the characteristics of the vehicle’s sensing and control systems. The core of our approach mainly consists of three phases, i.e., the adaptive polar lattice-based local search space design, the collision-free path generation and the path smoothing. By adjusting a few parameters, the algorithm can be adapted to different driving environments and different kinds of vehicle chassis. Simulations show that the proposed method owns strong environmental adaptability and low computation complexity. |
| first_indexed | 2024-03-11T08:11:44Z |
| format | Article |
| id | doaj.art-4ddf51dccfd2446e9295959618863c2d |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-11T08:11:44Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-4ddf51dccfd2446e9295959618863c2d2023-11-16T23:06:29ZengMDPI AGSensors1424-82202023-02-01234181310.3390/s23041813Apollo: Adaptive Polar Lattice-Based Local Obstacle Avoidance and Motion Planning for Automated VehiclesYiqun Li0Zong Chen1Tao Wang2Xiangrui Zeng3Zhouping Yin4School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518071, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaThe motion planning module is the core module of the automated vehicle software system, which plays a key role in connecting its preceding element, i.e., the sensing module, and its following element, i.e., the control module. The design of an adaptive polar lattice-based local obstacle avoidance (APOLLO) algorithm proposed in this paper takes full account of the characteristics of the vehicle’s sensing and control systems. The core of our approach mainly consists of three phases, i.e., the adaptive polar lattice-based local search space design, the collision-free path generation and the path smoothing. By adjusting a few parameters, the algorithm can be adapted to different driving environments and different kinds of vehicle chassis. Simulations show that the proposed method owns strong environmental adaptability and low computation complexity.https://www.mdpi.com/1424-8220/23/4/1813automated vehiclemotion planningadaptive polar latticeobstacle avoidance |
| spellingShingle | Yiqun Li Zong Chen Tao Wang Xiangrui Zeng Zhouping Yin Apollo: Adaptive Polar Lattice-Based Local Obstacle Avoidance and Motion Planning for Automated Vehicles Sensors automated vehicle motion planning adaptive polar lattice obstacle avoidance |
| title | Apollo: Adaptive Polar Lattice-Based Local Obstacle Avoidance and Motion Planning for Automated Vehicles |
| title_full | Apollo: Adaptive Polar Lattice-Based Local Obstacle Avoidance and Motion Planning for Automated Vehicles |
| title_fullStr | Apollo: Adaptive Polar Lattice-Based Local Obstacle Avoidance and Motion Planning for Automated Vehicles |
| title_full_unstemmed | Apollo: Adaptive Polar Lattice-Based Local Obstacle Avoidance and Motion Planning for Automated Vehicles |
| title_short | Apollo: Adaptive Polar Lattice-Based Local Obstacle Avoidance and Motion Planning for Automated Vehicles |
| title_sort | apollo adaptive polar lattice based local obstacle avoidance and motion planning for automated vehicles |
| topic | automated vehicle motion planning adaptive polar lattice obstacle avoidance |
| url | https://www.mdpi.com/1424-8220/23/4/1813 |
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