TY - GEN
T1 - An RRT∗ Optimization-based Path Planning Method for Ground Module of Air-ground Vehicle
AU - Li, Boyuan
AU - Wang, Weida
AU - Yang, Chao
AU - Li, Ying
AU - Qie, Tianqi
AU - Liu, Wenjie
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Path planning is one of the core technologies to realize air-ground vehicle docking. In order to plan a smooth and collision-free path, an RRT∗ optimization-based path planning method for the ground module of the air-ground vehicle is proposed in this paper. Considering the planned path for docking should be collision-free, effective and smooth, the path planning problem is formulated as an optimization problem with the optimization objective and constraints, in which kinematics constraints are considered to smooth the path and collision-free constraints are accurately formulated. For that the optimization problem is nonlinear, a reasonable and feasible initial guess generated by modified RRT∗ with Bezier curve is provided to assist in solving the optimization problem. The proposed method is verified under the general docking scene. The results show that the method can plan a smooth, safe and efficient path, which can effectively improve the safety and efficiency of the air-ground vehicle docking task.
AB - Path planning is one of the core technologies to realize air-ground vehicle docking. In order to plan a smooth and collision-free path, an RRT∗ optimization-based path planning method for the ground module of the air-ground vehicle is proposed in this paper. Considering the planned path for docking should be collision-free, effective and smooth, the path planning problem is formulated as an optimization problem with the optimization objective and constraints, in which kinematics constraints are considered to smooth the path and collision-free constraints are accurately formulated. For that the optimization problem is nonlinear, a reasonable and feasible initial guess generated by modified RRT∗ with Bezier curve is provided to assist in solving the optimization problem. The proposed method is verified under the general docking scene. The results show that the method can plan a smooth, safe and efficient path, which can effectively improve the safety and efficiency of the air-ground vehicle docking task.
KW - RRT
KW - air-ground vehicle
KW - nonlinear optimization
KW - path planning
UR - http://www.scopus.com/inward/record.url?scp=85181811576&partnerID=8YFLogxK
U2 - 10.1109/CCDC58219.2023.10326482
DO - 10.1109/CCDC58219.2023.10326482
M3 - Conference contribution
AN - SCOPUS:85181811576
T3 - Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023
SP - 194
EP - 199
BT - Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 35th Chinese Control and Decision Conference, CCDC 2023
Y2 - 20 May 2023 through 22 May 2023
ER -