Research on Trajectory Planning of Multi-Vehicle Formation on Unstructured Road

This project studies the trajectory planning of multi-vehicle formation in unstructured road scenarios. In terms of global optimal trajectory planning, this paper improved and combined the traditional unmanned vehicle formation strategy and single-agent trajectory planning algorithm and then proposed a two-stage method. Using a digital elevation map (DEM) as the simulation environment to test under different terrain features, the two-stage method in solving the global optimal trajectory planning problem of multi-unmanned vehicle formation is verified. For obstacle avoidance trajectories of local formation of unmanned vehicles, a trajectory planning algorithm that combines the improved formation strategy of unmanned vehicles with Hybrid A* algorithm is proposed, and simple simulation experiments are carried out for different formation constraint requirements. It is verified that the proposed algorithm can make the unmanned vehicle formation reasonably avoid obstacles in the driving path.