### Evaluation of Localizability for Path Planning

GAO Yang, LIU Jiang, LI Kunpeng

1. School of Automobile, Chang’an University, Xi’an 710054, China
• Online:2020-09-15 Published:2020-09-10

### 路径规划的可定位性研究

1. 长安大学 汽车学院，西安 710054

Abstract:

A new path evaluation function is proposed to solve the shortcomings of traditional path planning which doesn’t consider the localizability of each point on the path. According to the characteristics of location error transfer in common location algorithms, the location variance can be represented by the location result in [X]-[Y] plane and the estimated variance of the orientation angle and then considering the path safety and length performance, the new path evaluation function is formed. The experimental results show that the evaluation function proposed in this paper can make the path planning obtain an overall optimal path in three aspects of localizability, safety and length.