A path planning method of anti-jamming ability improvement for autonomous vehicle navigating in off-road environments

Abstract

Purpose Navigating in off-road environments is a huge challenge for autonomous vehicles, due to the safety requirement, the effects of noises and non-holonomic constraints of vehicle. This paper aims to describe a path planning method based on fuzzy support vector machine (FSVM) and general regression neural network (GRNN) that is able to provide a solution path for the autonomous vehicle navigating in the off-road environments. Design/methodology/approach The authors decompose the path planning problem into three steps. In the first step, A* algorithm is applied to obtain the positive and negative samples. In the second step, the authors use a learning approach based on radial basis function kernel FSVM to maximize the safety margin for driving, and the fuzzy membership is designed based on GRNN which can help to resolve the problem that the traditional path planning method is easily influenced by noises or outliers. In the third step, the Bezier interpolation algorithm is used to smooth the path. The simulations are designed to verify the parameters of the path planning algorithm. Findings The method is implemented on autonomous vehicle and verified against many outdoor scenes. Road test indicates that the proposed method can produce a flexible, smooth and safe path with good anti-jamming performance. Originality/value This paper applied a new path planning method based on GRNN-FSVM for autonomous vehicle navigating in off-road environments. GRNN-FSVM can reduce the effects of outliers and maximize the safety margin for driving, the generated path is smooth and safe, while satisfying the constraint of vehicle kinematic.

Real Time Neural Network Path Planning Algorithm for Robot

“…Applying algorithm, A* to the planned path can effectively find the best path. The traditional A* algorithm sometimes produces too many expansion nodes in the search process, thereby reducing the search efficiency [21]. In order to improve the search efficiency of algorithm A, a two-way search A algorithm is introduced in the literature.…”

An Approach to Improve Multi objective Path Planning for Mobile Robot Navigation using the Novel Quadrant Selection Method

“…In 42 , the authors modified the A* algorithm to get the smoothed path. In 43 , Adaptive Window Approach function for path smoothness and safety navigation, and in 44 , fuzzy support vector machine (FSM) and general regression neural network (GRNN) functions incorporated with A* algorithm. Still, the heuristic function in the A* algorithm itself has high computation time and integrating additional functions leads to an increase in run time and more memory requirements.…”

A Multilevel Adaptive Path-Planning Model in Off-Road Environments

“…To find the optimal path for off-road autonomous driving with static obstacle avoidance, Chu et al [22] determined the priority of each path by considering the path safety cost, path smoothness, and path consistency. Chen et al [23] proposed a path-planning method based on fuzzy support vector machine (FSVM) and general regression neural network (GRNN) to provide a solution path for autonomous vehicles navigating in off-road environments and verified through experiments that their method could navigate vehicles on smooth and obstacle-free routes when satisfying the constraint of vehicle kinematics. Wang et al [24] considered the influence of terrain slope and soil strength on a vehicle's off-road trafficability.…”