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汽车工业
Time-optimal Path Planning for Autonomous Vehicles Based on Bi-Level Programming
In this paper,a path planner is proposed for autonomous vehicles to find the time-optimal path that visits a given set of nodes in a directed graph,which is widely regarded as a NP-hard problem.Toward this end,a bi-level programming model is introduced to formulate and solve the underlying problem.In particular,an improved Dijkstra algorithm named directed-Dijkstra,considering turning time of vehicles,is proposed to obtain the time-optimal paths between all given nodes.Then,Branch and Bound-LKH hybrid algorithm is presented to allocate the given set of nodes in a reasonable sequence.Finally,the global time-optimal path is obtained by concatenating the corresponding sub-paths.Simulation results verified the effectiveness of the proposed scheme.
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第32届中国控制与决策会议论文集(5)
2020年

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