Implementação do algoritmo Hybrid A* para o planejamento de trajetórias de veículos autônomos em ambiente virtual

Abstract

This study proposes the implementation and analysis of the Hybrid A* algorithm for path planning in autonomous vehicles, using the Unity 3D platform as a simulation environment. The research explores Unity's capabilities to create realistic simulations, enabling the assessment of the algorithm's effectiveness and accuracy under varied and complex conditions. The Hybrid A* algorithm, an extension of the traditional A*, is specifically designed to address non-holonomic constraints, which are essential in autonomous vehicle navigation scenarios. Although its performance largely depends on an efficient heuristic, the implementation demonstrates that Hybrid A* is effective in generating feasible and safe routes, respecting the vehicle's kinematic limitations. The creation of a virtual environment in Unity, where obstacles and realistic navigation conditions are simulated, allows for the testing and evaluation of safe and viable trajectories. This study contributes to advancements in the field of autonomous vehicles, highlighting Unity’s potential as a tool for developing and testing path planning algorithms.