Navigating in off-road environments is a huge challenge for autonomous vehicles, due to the safety requirement, the effects of noises and non-holonomic constraints of vehicle. This paper aims to describe a path planning method based on fuzzy support vector machine (FSVM) and general regression neural network (GRNN) that is able to provide a solution path for the autonomous vehicle navigating in the off-road environments.
The authors decompose the path planning problem into three steps. In the first step, A* algorithm is applied to obtain the positive and negative samples. In the second step, the authors use a learning approach based on radial basis function kernel FSVM to maximize the safety margin for driving, and the fuzzy membership is designed based on GRNN which can help to resolve the problem that the traditional path planning method is easily influenced by noises or outliers. In the third step, the Bezier interpolation algorithm is used to smooth the path. The simulations are designed to verify the parameters of the path planning algorithm.
The method is implemented on autonomous vehicle and verified against many outdoor scenes. Road test indicates that the proposed method can produce a flexible, smooth and safe path with good anti-jamming performance.
This paper applied a new path planning method based on GRNN-FSVM for autonomous vehicle navigating in off-road environments. GRNN-FSVM can reduce the effects of outliers and maximize the safety margin for driving, the generated path is smooth and safe, while satisfying the constraint of vehicle kinematic.
Conflicts of interest: The authors declare no conflict of interest.
Chen, J., Jiang, W., Zhao, P. and Hu, J. (2017), "A path planning method of anti-jamming ability improvement for autonomous vehicle navigating in off-road environments", Industrial Robot, Vol. 44 No. 4, pp. 406-415. https://doi.org/10.1108/IR-11-2016-0301Download as .RIS
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