Study on Path Planning of Unmanned Vehicle Based on Kinematic and Dynamic Constraints

Abstract

Considering that the conventional A* algorithm does not include vehicle kinematics and dynamics constraints in the unmanned vehicle path planning, methods based on kinematics and dynamics constraints are proposed to solve problems of path planning for unmanned vehicles in this paper, including improved obstacle scanning method, Divide-and-Conquer Method, Greedy Algorithm and so on. Firstly, the kinematics and dynamics constraints of unmanned vehicles path planning are analyzed. Secondly, the corresponding solutions to these constraints are proposed. Thirdly, the Simulink/CarSim united simulation platform is built and the simulation and analysis are carried out under the condition of different obstacles and different speeds. The simulation results show that the proposed algorithm can better solve the problems of unmanned vehicle path planning with kinematics and dynamics constraints, which provides the basic theory and method for the path planning of unmanned vehicle in engineering.