Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment

Figure 23

The results of two-layered path planning method in scenario 2. (a) The experiment scenario. (b) The improved Bi-RRT planning result in high-level model. (c) The planning result of low-level model at time t₁. (d) The planning result of low-level model at time t₂.

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