Research on intelligent vehicle path planning based on behavior control in unknown environments

LI Shun-ming; SHEN Huan; BAO Qing-yong

doi:10.13873/j.1000-97872010.04.028

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Research on intelligent vehicle path planning based on behavior control in unknown environments

更新时间：2025-09-11

- Research on intelligent vehicle path planning based on behavior control in unknown environments
- Vol. 29, Issue 4, Pages: 67-70(2010)
- 作者机构：
  
  南京航空航天大学能源与动力学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872010.04.028
  CLC： TP242.6
- Published：2010
- 稿件说明：
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[1]李舜酩,沈峘,鲍庆勇.未知环境下基于行为控制的智能车辆路径规划研究[J].传感器与微系统,2010,29(04):67-70.

LI Shun-ming, SHEN Huan, BAO Qing-yong. Research on intelligent vehicle path planning based on behavior control in unknown environments[J]. 2010, 29(4): 67-70.
[1]李舜酩,沈峘,鲍庆勇.未知环境下基于行为控制的智能车辆路径规划研究[J].传感器与微系统,2010,29(04):67-70. DOI： 10.13873/j.1000-97872010.04.028.

LI Shun-ming, SHEN Huan, BAO Qing-yong. Research on intelligent vehicle path planning based on behavior control in unknown environments[J]. 2010, 29(4): 67-70. DOI： 10.13873/j.1000-97872010.04.028.

摘要

应用模糊逻辑方法

提出了一种在未知环境下基于行为控制的车辆路径规划算法。利用嵌入式计算机PC104构建了智能车的硬件系统

通过DSP控制多只超声波传感器来获取外部环境。路径规划中设计了避障行为和趋向目标点2个基本行为

采用了行为仲裁和行为融合两种方法进行行为决策。通过仿真对比了两种决策方法的优缺点

同时证明了路径规划算法的有效性。把基于行为仲裁的模糊避障算法应用到试验用车的实际避障中

取得了满意的效果。

Abstract

For intelligent vehicle path planning in unknown environment

a new algorithm based on behavior controlling is present by using the methods of fuzzy logic.The hardware system of the intelligent vehicle is constructed by an embedded PC104 computer

and by controlling several ultrasonic sensors based DSP

the information of external environments can be obtained.In the path planning course

the obstacle avoidance behavior and target approaching behavior are projected.Behavior arbitration and behavior fusion are both proposed

and then the advantage and disadvantage of the two methods is contrasted.The validity of path planning method is given by simulation results.The fuzzy obstacle avoiding algorithm based on behavior arbitration is applied to real obstacle avoiding of test vehicle

the result is satisfied.

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Keywords

references

未知环境中移动机器人实时导航与避障的分层模糊控制 [J]. 李保国,宗光华. 机器人 . 2005(06)

A neuro-fuzzy system architecture for behavior-based control of a mobile robot in unknown environments [J] . Wei Li,Chenyu Ma,F.M. Wahl. Fuzzy Sets and Systems . 1997 (2)

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