時空間RRTを使用した超小型EVの障害物回避経路の生成

抄録

This paper describes the path planning method based on Spatiotemporal RRT(StRRT) to Avoid Obstacles. Algorithm for path planning is used StRRT, not used potential method, because obstacles may move and StRRT is able to make calculation faster than potential method. And paths that take account of abilities of vehicle planed this method. When uses the data scanned road environments from 3D-LIDAR, making path to avoid obstacles was confirmed. If obstacles move, this method is able to plan the path that reflected this situation, therefore StRRT method is effective path planning. And more, this paper suggests Control System for electric vehicle to follow path made this method.