Unmanned local path planning method based on equal-step sampling A algorithm

The invention belongs to the field of unmanned path planning, and discloses an unmanned local path planning method based on equal-step sampling A* algorithm in order to meet the kinematic constraintsand actual traffic restrictions of automobiles. The method concretely comprises the following steps: 1, defining a search step size and a search security domain; 2, determining the starting point andthe target point of path search in a local grid map; 3, creating an Open list and a Closed list; 4, solving the cost functions of grid points in the Open list; 5, selecting the grid point with the lowest cost function value from the Open list; 6, respectively investing all security neighbor nodes of current nodes; 7, performing no sub-node processing on the current nodes in the search process; and8, repeating step 5 to step 7 until conditions are met, and returning to a feasible path or to search fail. The method is mainly applied to unmanned roads. 本发明属于无人驾驶路径规划领域，为满足汽车的运动学约束与实际交通限制，本发明，基于等步采样A*算法的无人驾驶局部路径规划方法，具体步骤如下：