A real-time local path planning method in complex scenes

Wenlin Cai; Zihui Zhu; Jianhua Li; Jiaqi Liu; Chunxi Wang

doi:10.1117/12.2602892

24 November 2021 A real-time local path planning method in complex scenes

Wenlin Cai, Zihui Zhu, Jianhua Li, Jiaqi Liu, Chunxi Wang

Proceedings Volume 12061, AOPC 2021: Infrared Device and Infrared Technology; 120610E (2021) https://doi.org/10.1117/12.2602892
Event: Applied Optics and Photonics China 2021, 2021, Beijing, China

Abstract

Aiming at complex military application scenarios, this paper proposes a vision and lidar fusion scheme, and designs an algorithm for real-time construction of local scenes and real-time local path planning. It satisfies that the vehicle can avoid ground obstacles and aerial obstacles in real time under the state of no navigation and no map, and realize autonomous navigation. Experiments have verified that the algorithm has high execution efficiency and can meet the application requirements of autonomous driving.

Citation Download Citation

Wenlin Cai, Zihui Zhu, Jianhua Li, Jiaqi Liu, and Chunxi Wang "A real-time local path planning method in complex scenes", Proc. SPIE 12061, AOPC 2021: Infrared Device and Infrared Technology, 120610E (24 November 2021); https://doi.org/10.1117/12.2602892

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