Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 7
2090-2095

Vehicle path planning research based on VFH+ algorithm under direction guidance

Zhu Maofei1,2
He Chenchen1
Zhang Chunpeng1
Wu Qiong3
Zhu Shouli4
1. College of Advanced Manufacturing Engineering, Hefei University, Hefei 230601, China
2. Anhui Intelligent Vehicle Control & Integrated Design Technology Engineering Research Center, Hefei 230601, China
3. Anhui Jianghuai Automotive Group, Hefei 230601, China
4. Hefei ChangAn Automobile Co. , Ltd. , Hefei 230001, China
DOI: 10.19734/j.issn.1001-3695.2022.10.0552

Abstract

Aiming at the problem that the vector field histogram(VFH+) algorithm is easy to fall into the environment dead zone in the path planning process, and the generated path cannot satisfy the vehicle kinematics constraints, this paper proposed a direction guided VFH+path planning algorithm. Firstly, it introduced the kinematic constraints of vehicles into the node expansion of Bi-RRT. On the basis of removing redundant nodes on the path, it obtained a smooth guidance path by using cubic B-spline curves. Secondly, in the VFH+algorithm, it introduced the maximum angle constraint of the vehicle and the discrete point direction of the guidance path to limit the range of candidate directions of VFH+, and modified the cost function to obtain the appropriate forward direction. Finally, it performed the simulation comparison and experimental verification on MATLAB software and the robot operating system(ROS) platform. The results show that the improved VFH+algorithm can gene-rate an effective path to avoid the environment dead zone under the condition of meeting the vehicle kinematics constraints.

Foundation Support

安徽省高校自然科学研究项目(KJ2021A0988)
合肥学院人才科研基金资助项目(20RC06)
安徽省新能源汽车暨智能网联汽车产业技术创新工程项目(wfgcyh2020477,wfgcyh2021439)
合肥学院研究生创新项目(21YCXL11)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.10.0552
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 7
Section: Algorithm Research & Explore
Pages: 2090-2095
Serial Number: 1001-3695(2023)07-025-2090-06

Publish History

[2023-01-18] Accepted Paper
[2023-07-05] Printed Article

Cite This Article

朱茂飞, 贺晨辰, 张春鹏, 等. 基于方向引导的智能车VFH+路径规划算法研究 [J]. 计算机应用研究, 2023, 40 (7): 2090-2095. (Zhu Maofei, He Chenchen, Zhang Chunpeng, et al. Vehicle path planning research based on VFH+ algorithm under direction guidance [J]. Application Research of Computers, 2023, 40 (7): 2090-2095. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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