Research on path planning strategy based on dynamic object obstacle avoidance

Abstract

As a decision-making layer, path planning technology plays an important role in intelligent driving. Using the A* algorithm or the TEB (timed elastic band) algorithm alone cannot achieve global path optimization and dynamic obstacle avoidance at the same time. This paper adopts a path planning strategy combining A* and TEB algorithms. First, use the A* algorithm to test in a static environment, then use the TEB algorithm to test in a dynamic environment, and finally, conduct experiments in a complex environment with both static and dynamic obstacles, the feasibility and effectiveness of the method for path planning in static maps with dynamic obstacles are verified.