An Application of Constrained D*Algorithm Based on Support Vector Machine in Automated Vehicle Routing
LIU Xiaotao
CAI Yunfei
WANG Tiancheng
Abstract：For the problem of the dynamic path planning and path smoothing of automated vehicle in unknown environment with constraints,an improved algorithm of D*based on support vector machine(SVM)is presented. In this algorithm the environ?mental modeling is based on the grid method and then establish the constrained dynamic equation of the vehicle. After the dynamic planning path is selected,the SVM algorithm is used to smooth optimization the local path of automated vehicle at the steering posi?tion. By this algorithm automated vehicle can smooth and stable movement in real environment. Experimental results show that this algorithm can dynamically plan a smooth path in unknown environment,which has sufficient reliability and stability.
Keywords：automated vehicleconstrained D*algorithmSVMlinear kerneldynamic path planning and path smoothing
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 1748-1754 )