摘 要：介绍一种基于AStar算法的避障规划逻辑，并介绍与之配合使用的路径平滑算法，再将AStar算法与实际场景相结合，提出一种多次规划的避障逻辑，最后将此逻辑与Carla进行联合仿真与调试。
关键词：路径规划；避障；AStar算法；Carla
中图分类号：U471.15 文献标志码：A 文章编号：1006-3331(2023)03-0006-04
Development of Local Planning Method for Obstacle Avoidance Path Based on AStar Algorithm
LIU Zhijun, SU Liang, WU Shaoxiong
Abstract: This paper introduces an obstacle avoidance planning logic based on the AStar algorithm, andpresents the path smoothing algorithm used in coordination with it, then combines the AStar algorithm withthe actual scene to propose a new obstacle avoidance logic of many times planning, and finally uses this log-ic and Carla to co-simulate and debug.
Key words: path planning; obstacle avoidance; AStar algorithm; Carla
