http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Wan Keqian (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
Meng Tianchuang,Yang Tianhong,Huang Jin,Jin Wenrui,Zhang Wei,Jia Yifan,Wan Keqian,Xiao Gang,Yang Diange,Zhong Zhihua 한국자동차공학회 2023 International journal of automotive technology Vol.24 No.2
The recent proliferation of intelligent technologies has promoted autonomous driving. The autonomous parking system has become a popular feature in autonomous driving. Hybrid A-star algorithm is a commonly used path planning algorithm for its simplicity to deploy and the good characteristics of the generated paths in the practical engineering. To further enhance the path safety and efficiency of path planning in the autonomous parking system, this paper proposes an improved hybrid A-star algorithm through the safety-enhanced design and the efficiency-enhanced design. The safety-enhanced design integrates the Voronoi field potential into the path searching stage to take more account of path safety. The efficiency-enhanced design proposes a multi-stage dynamic optimization strategy which divides the path planning into multiple stages and performs dynamic optimization in each stage. Through simulation experiments, it is verified that the proposed improved algorithm not only generates a much safer path which stays farther from the obstacles but also significantly improves the searching efficiency in terms of time and space, merely at a finite cost of pre-processing work which can also be repeatedly utilized. We hope this paper will promote relative research on path planning in autonomous parking and serve as a reference for the practical engineering.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
