改进的混合A*算法实现自动倒车避障，路径可行且无碰撞。
Modified Hybrid A* Collision-Free Path-Planning for Automated Reverse Parking
- 基于车辆单轨运动模型，生成符合物理限制的路径分支。
- 结合膨胀栅格图与车体中心线，实现静态障碍物精确避障。
- 仿真验证表明路径始终满足运动可行性与安全性要求。
在狭窄空间内停车因可行路径稀缺且需避免碰撞而极具挑战。本文提出一种改进的混合A*路径规划算法，融合标准混合A*的可行性保障与静态障碍物避碰能力。通过推导车辆低速运动的单轨动力学模型，作为混合A*算法中的运动模型，生成满足物理约束的运动基元分支；同时利用模型状态重构车辆中心线，结合膨胀的二值占用图，实现静态障碍物的高效避碰。通过仿真与动画验证，所提算法能持续生成具有运动可行性的无碰撞轨迹。
原文摘要 · Abstract (English)
Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this kind of maneuver with a modified Hybrid-A* path-planning algorithm that combines the feasibility guarantee inherent in the standard Hybrid A* algorithm with the addition of static obstacle collision avoidance. A kinematic single-track model is derived to describe the low-speed motion of the vehicle, which is subsequently used as the motion model in the Hybrid A* path-planning algorithm to generate feasible motion primitive branches. The model states are also used to reconstruct the vehicle centerline, which, in conjunction with an inflated binary occupancy map, facilitates static obstacle collision avoidance functions. Simulation study and animation are set up to test the efficacy of the approach, and the proposed algorithm proves to consistently provide kinematically feasible trajectories that are also collision-free.
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