LOCAL TRAJECTORY PLANNING FOR AN AUTONOMOUS LAND VEHICLE
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摘要: 局部路径规划是自主车的一项关键技术，它的品质密切关系到整个自主车系统的性能．本文提出了将自主式多智能体的任务和反应性行为模型嵌入到离散事件系统框架中作局部路径规划的方法，此方法克服了势场法（包括早期的虚力场法）的缺陷--即由于把所有信息压缩为单个合力而损失部分有价值的局部障碍物分布信息，从而提高了局部路径规划的可靠性．Abstract: Local trajectory planning is a key technology for an autonomous land vehicle(ALV), and its qualities closely relate to the performance of an ALV. In this paper, we embed the problem of modeling tasks and reactive behaviors of autonomous agents into the discrete event system framework for local trajectory planning. This technique overcomes the defects of potential field methods(as well as early virtual force field methods), i.e., the loss of some valuable information of the distribution of obstacles caused by the fact that all information was compressed into a single resultant force. This method improved the reliability of local trajectory planning of an autonomous land vehicle.
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