Zhongping Chen1, Dong Wang1, *, Gang Chen2, Yanxi Ren3, Danjie Du4
CMC-Computers, Materials & Continua, Vol.65, No.2, pp. 1781-1793, 2020, DOI:10.32604/cmc.2020.010902
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… More >
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