@Article{cmc.2020.010902,
AUTHOR = {Zhongping Chen, Dong Wang, Gang Chen, Yanxi Ren, Danjie Du},
TITLE = {A Hybrid Path Planning Method Based on Articulated Vehicle Model},
JOURNAL = {Computers, Materials \& Continua},
VOLUME = {65},
YEAR = {2020},
NUMBER = {2},
PAGES = {1781--1793},
URL = {http://www.techscience.com/cmc/v65n2/39906},
ISSN = {1546-2226},
ABSTRACT = {Due to the unique steering mechanism and driving characteristics of the 
articulated vehicle, a hybrid path planning method based on the articulated vehicle model 
is proposed to meet the demand of obstacle avoidance and searching the path back and 
forth of the articulated vehicle. First, Support Vector Machine (SVM) theory is used to 
obtain the two-dimensional optimal zero potential curve and the maximum margin, and 
then, several key points are selected from the optimal zero potential curves by using 
Longest Accessible Path (LAP) method. Next, the Cubic Bezier (CB) curve is adopted to 
connect the curve that satisfies the curvature constraint of the articulated vehicle between 
every two key points. Finally, Back and Forth Rapidly-exploring Random Tree with 
Course Correction (BFRRT-CC) is designed to connect paths that do not meet articulated 
vehicle curvature requirements. Simulation results show that the proposed hybrid path 
planning method can search a feasible path with a 90-degree turn, which meets the 
demand for obstacle avoidance and articulated vehicle back-and-forth movement.},
DOI = {10.32604/cmc.2020.010902}
}