Local Path Planning of Autonomous Vehicle Based on an Improved Heuristic Bi-RRT Algorithm in Dynamic Obstacle Avoidance Environment

Local Path Planning of Autonomous Vehicle Based on an Improved Heuristic Bi-RRT Algorithm in Dynamic Obstacle Avoidance Environment

The existing variants of the rapidly exploring random tree (RRT) cannot be effectively applied in local path planning of the autonomous vehicle and solve the coherence problem of paths between the front and back frames. Thus, an improved heuristic Bi-RRT algorithm is proposed, which is suitable for...

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Bibliographic Details
Main Authors: Xiao Zhang, Tong Zhu, Lei Du, Yueqi Hu, Haoxue Liu
Format: Article
Language:English
Published: MDPI AG 2022-10-01
Series:Sensors
Subjects:
autonomous vehicle
local path planning
Bi-RRT
path reorganization
path coherence
Online Access:https://www.mdpi.com/1424-8220/22/20/7968

Internet

https://www.mdpi.com/1424-8220/22/20/7968

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