Research on Automatic Navigation Obstacle Avoidance of Intelligent Car Based on A* Algorithm and TEB Algorithm
WANG Chunping
WANG Jiaqi
GAO Jinfeng
Abstract：In the control system of intelligent car,the environment changes constantly with the movement of the intelligent car,which affects the next movement control of the intelligent car.To solve this problem,an automatic navigation obstacle avoid-ance system for intelligent car based on A*algorithm and TEB algorithm is designed.Jetson Nano is regarded as the core controller of the system;it runs Ubuntu 18.04 system and installs the ROS robot operating system.At the same time,STM32 is selected as the main control board of motion controller of the system,the board is equipped with IMU,which can realize the closed-loop control of four DC motors.The lidar is used to scan the environment around the intelligent car continuously,and the fusion positioning ap-proach of IMU and wheel odometer is utilized to obtain the odometer information after fusion filtering,so that the automatic naviga-tion obstacle avoidance function of the intelligent car can be realized.Finally,the proposed method is verified by numerical simula-tion and experimental debugging.The obtained results show that the system can locate effectively and accurately,and achieve the function of autonomous navigation obstacle avoidance.
Keywords：A*algorithmTEB algorithmintelligent carautomatic navigation obstacle avoidance
Publication Date：2023-12-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 2836-2840,2917 )