论文标题
RRT和RRT*使用车辆动力学
RRT and RRT* Using Vehicle Dynamics
论文作者
论文摘要
从RRT和RRT*得出的轨迹被扎根。自动驱动器能够遵循此轨迹。但是具有动态限制的现实生活工具不能遵循此轨迹。在这项工作中，我们将修改RRT和RRT*算法，以生成具有动态约束的车辆可以随之而来的轨迹。在现实世界中，转向控制和加速控制的连续性质引入了其模型中的复杂性。为了在车辆的运动中引入约束，同时减少了控制的数量并因此，我们将车辆建模为Dubins Car。杜宾汽车只有三个控件（向左转，向右转，向前移动），这使我们的模型变得简单。我们使用Dubins曲线（Dubins Car可以遵循的路径）在RRT和RRT*算法中追踪轨迹。
The trajectory derived from RRT and RRT* is zagged. A holonomic drive is able to follow this trajectory. But real-life vehicle which has dynamical constraints cannot follow this trajectory. In this work, we are going to modify the RRT and RRT* algorithm to generate a trajectory that a vehicle with dynamical constraint can follow. The continuous nature of steering control and acceleration control in a real-world vehicle introduces the complexity in its model. To introduce constraint in the vehicle's motion, while reducing the number of control and hence complexity, we are modeling our vehicle as a Dubins car. A Dubins car has only three controls (turning left, turning right, and moving forward) with a fixed velocity which makes our model simple. We use dubins curve (path that dubins car can follow) to trace the trajectory in RRT and RRT* algorithm.
