Abstract: To optimize the path planning duration and smooth planning path for dynamic collision avoidance of unmanned vehicle, a fusion algorithm for path planning is proposed. Bid -RRT is used to quickly search the obstacle avoidance path, shorten the path planning time. Dynamic window approach is used to smooth the planning path,the path planned by the fusion algorithm is able to avoid collision of unmanned vehicles under dynamic constraints. Simulation results show that the planned trajectory is more secure and more effective for dynamic collision avoidance of unmanned vehicles under airport bridge, being able to conduct collision avoidance path planning both rapidly and smoothly.

Key words: unmanned vehicle, path planning, Bid-RRT, dynamic window approach, airport bridge