In addition to the safety of collision avoidance, the safety of lateral stability is another critical issue for unmanned ground vehicles in the high-speed condition. This article presents an integrated path planning algorithm for unmanned ground vehicles to address the aforementioned two issues. Since visibility graph method is a very practical and effective path planning algorithm, it is used to plan the global collision avoidance path, which can generate the shortest path across the static obstacles from the start point to the final point. To improve the quality of the planned path and avoid uncertain moving obstacles, nonlinear model predictive control is used to optimize the path and conduct second path planning with the consideration of lateral stability. Considering that the moving trajectories of moving obstacles are uncertain, multivariate Gaussian distribution and polynomial fitting are utilized to predict the moving trajectories of moving obstacles. In the collision avoidance algorithm design, a series of constraints are taken into consideration, including the minimum turning radius, safe distance, control constraint, tracking error, etc. Four simulation conditions are carried out to verify the feasibility and accuracy of the comprehensive collision avoidance algorithm. Simulation results indicate that the algorithm can deal with both static and dynamic collision avoidance, and lateral stability.

中文翻译：

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无人地面车辆避碰路径规划：一种非线性模型预测控制方法

除了避免碰撞的安全性，横向稳定性的安全性是无人地面车辆在高速条件下的另一个关键问题。本文提出了一种用于无人地面车辆的集成路径规划算法，以解决上述两个问题。由于可见性图法是一种非常实用且有效的路径规划算法，因此用于规划全局避碰路径，可以生成从起点到终点的跨越静态障碍物的最短路径。为提高规划路径的质量，避开不确定的移动障碍物，采用非线性模型预测控制优化路径，并在考虑横向稳定性的情况下进行二次路径规划。考虑到移动障碍物的移动轨迹是不确定的，利用多元高斯分布和多项式拟合来预测移动障碍物的移动轨迹。在防撞算法设计中，考虑了一系列约束条件，包括最小转弯半径、安全距离、控制约束、跟踪误差等，通过四个仿真条件验证了综合防撞的可行性和准确性算法。仿真结果表明，该算法可以同时处理静态和动态碰撞避免以及横向稳定性。控制约束、跟踪误差等。通过四种仿真条件验证了综合防撞算法的可行性和准确性。仿真结果表明，该算法可以同时处理静态和动态碰撞避免以及横向稳定性。控制约束、跟踪误差等。通过四种仿真条件验证了综合防撞算法的可行性和准确性。仿真结果表明，该算法可以同时处理静态和动态碰撞避免以及横向稳定性。