Heuristic Rolling Morphin Based Lane Tracing Planning for Autonomous Land Vehicle

A heuristic rolling morphin based lane tracing planning method for autonomous land vehicle is presentd. Add heuristic factor to the morphin evaluat fuction, so the direction of the path search can reach the goal quickly. Restricting search range by adjuting the rolling window size on the basis of the vehicle's velocity, so that the vehicle can avoid the obstacle in a safe distance. By considering the vehicle's non-holonomic constraint, the path is more smooth and fit for the movement locus of the vehicle. The effectivity of the algorithm is proved by experiment.