Chongqing University

Shanghai University

Xuyang Zheng

Jun Luo

Huayan Pu

Jie Ma

Anming Shen

Hongliang Liu

Jing Huang

Yongbing Chen

Lele Ding

Haonan Sun

Hai Liu

A method, system, electronic device and storage medium for constructing locally convex feasible space are provided. The method includes acquiring a plurality of initial motion trajectory points, size information and surrounding obstacle information of a target vehicle; generating a quadtree map according to the above information; determining a target distance corresponding to each initial motion trajectory point according to the quadtree map; allocating locally convex feasible space to a first-type initial motion trajectory point by using the quadtree map, and allocating locally convex feasible space to a second-type initial motion trajectory point by using an improved convex feasible set algorithm. The first-type initial motion trajectory point is an initial motion trajectory point with the target distance greater than or equal to a set threshold; and the second-type initial motion trajectory point is an initial motion trajectory point with the target distance less than the set threshold.

Method, system, electronic device and storage medium for constructing local convex feasible space

The present disclosure provides a method and system for path planning of an unmanned vehicle in a three-dimensional terrain and relates to the technical field of path planning. The method includes building a random tree with an initial point of a to-be-planned path as a node; generating a random node based on a goal bias strategy and a multi-sampling strategy; determining a node in the random tree and with a minimum two-dimensional distance from the random node as a nearest node; determining a direction from the nearest node to the random node as an extension direction; determining a point corresponding to a preset step length as a to-be-determined node in the extension direction with the nearest node as a starting point; and updating the random tree or determining a path cut-off random tree through elevation detection and path search cut-off detection, so as to determine the to-be-planned path.

Method and system for path planning of unmanned vehicle in three-dimensional terrain

A method and system for decomposing cross-domain path planning of an amphibious vehicle. The method includes: defining a starting point and a target point of cross-domain path planning by acquiring an amphibious map containing coastline information, constructing a candidate set of land-water transition points; setting a multilevel gradient search range on a coastline and a set number of iterations; determining a locally-optimal land-water transition point in each search range in a level-wise search mode; setting a heuristic search termination condition, and determining, based on the heuristic search termination condition, whether a current locally-optimal land-water transition point can be globally optimal; if yes, stopping searching, and determining a globally-optimal land-water transition point; if no, determining whether the range is completely traversed; if yes, stopping searching, and determining a globally-optimal land-water transition point; if no, continuing to traverse the range; finally performing global path planning based on the globally-optimal land-water transition point.

Method and system for decomposing cross-domain path planning of amphibious vehicle

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Chongqing, China

Xuyang Zheng