1. 毕业设计（论文）的内容和要求

车辆自主驾驶系统从本质上讲是一个智能控制机器，其研究内容大致可分为信息感知、行为决策及操纵控制三个子系统。

路径规划是智能车辆导航和控制的基础，是从轨迹决策的角度考虑的，可分为局部路径规划和全局路径规划。

本课题针对低速行驶的自动驾驶车辆，利用流场的天然寻路优势作比拟，开发一种路径规划方法--基于流场指引的无人车转向控制方法，该方法能够同时得出路径拓扑和运动指引。

2. 参考文献

[1]Dijkstra, E.W. 1959. A note on two problems in connection with graphs. Numerische Mathematik (1):269#8211;271. [2]Gordon, T.J., Best, B.C. Dixon, P.J. 2002. An automated driver based on convergent vector fields. Journal of Automobile Engineering 216(4):329-347. [3]Gordon, T.J. Best, M.C. 2006. On the synthesis of driver control inputs for the simulation of handling manoeuvres. International Journal of Vehicle Design 40(1/2/3):52-76. [4]Hwang, Y.K. Ahuja, N. 1992. A potential field approach to path planning. IEEE Transactions on Robotics and Automation 8(1):23-32. [5]Kavraki, L.E. Svestka, P. 1996. Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation 12(4):566#8211;580. [6]LaValle, S.M. James, J. 2001. Randomized kinodynamic planning. The International Journal of Robotics Research 20(5):378#8211;400. [7]Likhachev, M. Ferguson, D.I. 2005. Anytime dynamic A*: An anytime, replanning algorithm. The International Conference on Automated Planning and Scheduling (ICAPS): 262#8211;271. [8]Phinni, M.J. Sudheer, A. 2008. Obstacle avoidance of a wheeled mobile robot: A geneticneurofuzzy approach. IISc Centenary-International Conference on Advances in Mechanical Engineering. [9]Saffiotti, A. 1997. The uses of fuzzy logic in autonomous robot navigation. Soft Computing 1(4):180#8211;197. Sedighi, K.H Ashenayi, K. 2004. Autonomous local path planning for a mobile robot using a genetic algorithm. Evolutionary Computation 2:1338#8211;1345. [10]Stentz, A. 1994. Optimal and efficient path planning for partially-known environments. IEEE International Conference on Robotics and Automation: 3310#8211;3317.

3. 毕业设计（论文）进程安排

起讫日期 设计（论文）各阶段工作内容 备 注 2017.12.20～12.22 完成选题 下达任务书 12.22～2018.01.12 布置设计任务、学习基本知识 完成开题 01.13～02.29 阅读和翻译文献资料 03.1～03.15 学习ANSYS Fluent流体软件使用 03.16～03.31 理论推导、模型建立 04.1～04.15 编程实现算法、进行仿真 04.16～04.30 系统优化，与其他方法比较优越性 中期检查 05.1～05.15 撰写毕业论文初稿 05.16～05.30 完善毕业论文，形成终稿 06.5之前 提交所有毕业设计正式材料电子版与打印版 06.5～06.14 准备答辩 答辩