公开(公告)号：US20200371520A1

公开(公告)日：2020-11-26

申请号：US16822820

申请日：2020-03-18

Applicant: Hefei University of Technology

Inventor： Minglun REN ,  Xiaodi HUANG ,  Chenze WANG ,  Bayi CHENG

IPC: G05D1/02 ,  G05B17/02 ,  G01S19/42

Abstract: The present invention provides a path planning method and system for self-driving of autonomous system, and relates to the technical field of autonomous systems. The method comprises following steps of: acquiring a path optimization function of an agent; converting, based on fixed-point theorems, the path optimization function of the agent into an equivalent fixed-point equation; acquiring a complete simplex sequence based on the fixed-point equation; and, determining, based on the complete simplex sequence, an initial population size and an initial position of particles for particle swarm optimization to obtain the best path planning of the agent. In the present invention, the extremal optimization of the path optimization function of the agent is converted into solving of the fixed-point equations, and initial parameters for particle swarm optimization are determined by the complete simplex sequence.