Path Planning for Smart Car Based on Dijkstra Algorithm and Dynamic Window Approach

作者：Lisang Liu, Jiafeng Lin, Jin-xin Yao, Dongwei He, Jishi Zheng, Jing Huang, Peng Shi · 发表于：Wireless Communications and Mobile Computing · 年份：2021 · DOI：10.1155/2021/8881684 · 被引用次数：148 · 研究领域：Robotic Path Planning Algorithms、Robotics and Sensor-Based Localization、Autonomous Vehicle Technology and Safety

Path planning and obstacle avoidance are essential for autonomous driving cars. On the base of a self‐constructed smart obstacle avoidance car, which used a LeTMC‐520 depth camera and Jetson controller, this paper established a map of an unknown indoor environment based on depth information via SLAM technology. The Dijkstra algorithm is used as the global path planning algorithm and the dynamic window approach (DWA) as its local path planning algorithm, which are applied to the smart car, enabling it to successfully avoid obstacles from the planned initial position and reach the designated position. The tests on the smart car prove that the system can complete the functions of environment map establishment, path planning and navigation, and obstacle avoidance.