Trajectory control of an electric vehicle using the RRT algorithm for movement planning in urban environments
Abstract
Trajectory control of an electric vehicle using the RRT algorithm for movement planning in urban environments
Incoming article date: 20.12.2018The article is devoted to the problem of planning the trajectory of an unmanned vehicle-electric vehicle. The results of the development, software implementation and research of the algorithm for constructing the optimal trajectory of the unmanned vehicle in a well-known environment - part of the urban environment are presented. As a basis, a fast-growing random tree (RRT) algorithm was used to construct a path between two points. At the same time, it was optimized regarding the algorithm for removing unnecessary vertices in order to build the optimal trajectory as well as taking into account the vehicle’s kinematic constraints using the Dubins curves on the turning radius of a transport electric vehicle for entering turns. As input data, a binarized map of the city’s terrain was used, as well as set coordinates of the starting and ending position of the vehicle. Research is also conducted on the speed of calculating the RRT method, depending on the system power.
Keywords: unmanned vehicles, electric vehicles, motion planning methods, sampling methods, RRT algorithm, Dubins curves