Research on unmanned driving path planning algorithm based on Robot Operating System

Abstract

Abstract With the rapid development of communication and computer technology In recent years, automatic driving has attracted much attention. By using path planning technology, the AV can automatically find an optimal path to the destination while avoiding obstacles, so as to reduce transportation costs, improve driving efficiency, improve customer satisfaction and reduce traffic accidents, which is of important meaning to spurring the further development of intelligent transportation. Two algorithms of driverless path planning are studied, one is and the A* algorithm is for global path planning, another is the timed elastic band (TEB) algorithm for local path planning. Firstly, the direction of the exploration domain of the traditional A* algorithm is improved by adding an exploration domain to smooth the planned path.t. Secondly, some parameters of the TEB algorithm are adjusted to make the car stay away from obstacles and run more safely. Finally, on the mobile robot platform equipped with ROS operating system, the hybrid path planning is realized by combining these two algorithms, and the simulation experiment under a real environment is carried out. Experiment results show that the proposed method can autonomously plan path and navigation smoothly.