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This paper presents a novel dynamic A?path finding algorithm and 3 D lidar based local obsta-cle avoidance strategy for an autonomous vehicle. 3D point cloud data is collected and analyzed in real time. Local obstacles are detected online and a 2D local obstacle grid map is constructed at 10 Hz/s. The A?path finding algorithm is employed to generate a local path in this local obstacle grid map by considering both the target position and obstacles. The vehicle avoids obstacles under the guidance of the generated local path. Experiment results have shown the effectiveness of the ob-stacle avoidance navigation algorithm proposed.