Authors D. A. Beloglazov, V. V. Soloviev, I. O. Shapovalov
Month, Year 03, 2018 @en
Index UDC 621.865.8
Abstract The aim of the work is to solve the problem of the planning of a vehicle motion in a three-dimensional environment with moving obstacles. The vehicle is equipped with a limited-range locator. To solve the problem, an analysis of well-known publications was carried out, the results of which were used to propose the structures of hybrid systems for the path planning of vehicles. Several variants of the structural implementation of multi-module planning systems are considered and as a result, a sequential hybrid structure of the trajectory planning system has been chosen for implementation. This structure of the VFC-planner (virtual field cell) is based on the method of virtual fields and division of the surrounding space into cells. We present a three-dimensional implementation of the method of virtual fields using exponential functions of repulsion from obstacles considering relative velocity of the vehicle and obstacles. The algorithm for diagnostics of areas of the local minimum of a field using a buffer is proposed. This algorithm also makes it possible to diagnose the situations of the vehicle got stuck in areas with cyclic trajectories. To increase the efficiency of the method in three-dimensional environments, the algorithm is proposed for analyzing the clouds of points belonging to obstacles. It makes it possible to calculate the coordinates of the virtual target point. The field of view of the locator is divided into prisms. The prism containing the smallest number of obstacle points and located at the smallest angular distance from the target point is looked for. The coordinates of the center of its base become a virtual target point. The results of the simulation of the path planning for a vehicle are given. The obtained results testify the efficiency of the proposed algorithms for solving the task of the safe motion of a vehicle in a three-dimensional environment with moving obstacles relative to the basic method of virtual fields.

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Keywords Path planning; vehicle; virtual fields; local minimum; sensor data processing.
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