A hierarchical path planning algorithm based on graphical search and optimization methods

Liang Wu; Chengzhi Yi; Chao Cheng; Dongxuan Xie

doi:10.1117/12.3006128

10 October 2023 A hierarchical path planning algorithm based on graphical search and optimization methods

Liang Wu, Chengzhi Yi, Chao Cheng, Dongxuan Xie

Proceedings Volume 12799, Third International Conference on Advanced Algorithms and Signal Image Processing (AASIP 2023); 1279942 (2023) https://doi.org/10.1117/12.3006128
Event: 3rd International Conference on Advanced Algorithms and Signal Image Processing (AASIP 2023), 2023, Kuala Lumpur, Malaysia

Abstract

This paper proposes a hierarchical path-planning algorithm based on a combination of graphical search algorithms and optimization methods. In the global path planning layer, by using the Hybrid A* algorithm, we can quickly obtain an optimal path that can avoid all static obstacles on the map. In the local path planning layer, the global path is optimized by numerical nonlinear numerical optimization to generate a feasible path that satisfies the safety constraints. By processing global path planning and local path planning separately, the computational complexity of path planning can be effectively reduced, and the efficiency and accuracy of the path planning can be improved. Secondly, the hybrid planning algorithm can generate high-quality paths with both safety and flexibility. We simulate and verify the algorithm, and the results show that the method has practical applications in autonomous driving.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Liang Wu, Chengzhi Yi, Chao Cheng, and Dongxuan Xie "A hierarchical path planning algorithm based on graphical search and optimization methods", Proc. SPIE 12799, Third International Conference on Advanced Algorithms and Signal Image Processing (AASIP 2023), 1279942 (10 October 2023); https://doi.org/10.1117/12.3006128

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available