Study on Route Planning Method of Variable-Configuration Vehicles Considering Mode Decision

The form changes of vehicles directly affect their driving performance, terrain adaptability, and motion efficiency. Conventional path planning techniques are unable to address the unique needs of irregularly shaped vehicles. Consequently, a hierarchical path planning algorithm that takes configuration changes into account is introduced. By introducing a pattern decision-making mechanism, the path planning process is divided into multiple levels. According to the task requirements and environmental conditions, the vehicle configuration is dynamically selected, and the driving path is optimized for the driving characteristics under different configurations, thereby fully utilizing the adaptability and through capability of the vehicle.