关键词: 自动导引小车, 车辆运动学模型, Reeds-Shepp曲线, 启发式滑动窗口采样, B-RRT*算法, 路径规划

Abstract:

There are many problems existed in the path planned by B-RRT* in the real using situation：（1）the planed path is not smooth with many turning points, （2）the planned path is too close to the obstacle, （3）the turning angle is too large. These problems make the path unsuitable for real vehicle kinematic application. To overcome these problems, Reeds-Shepp curve is used to pre-process the path to solve the problem of the vehicle’s orientation at the target point. Additionally, a heuristic sliding window is introduced to avoid random sampling by B-RRT* algorithm randomly. At the same time, the vehicle’s kinematic constraints are gotten by modeling for B-RRT* algorithm. The parent node has been re-selected and re-distributed randomly. The planned path is smoothed by using Bezier curvature. In conclusion, the results show that the path planned by the improved B-RRT* algorithm is more effective than the traditional one and the problems caused by B-RRT* have been solved to make it a more realistic vehicle kinematic model.

Key words: Automatic Guided Vehicle（AGV）, vehicle kinematic model, Reeds-Shepp curve, heuristic sliding window sampling, B-RRT* algorithm, path planned