Abstract
This paper studies the autonomous path planning of unmanned vehicles in a known driving environment. The path planning algorithm used is a hybrid algorithm combining bidirectional fast random search tree and artificial potential field method. On the basis of introducing the principle of the two algorithms, an improved algorithm combining Bi-RRT and artificial potential field is proposed. In order to reflect the advantages of the improved algorithm, the traditional RRT and Bi-RRT algorithms are simulated and compared in Matlab.
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