The invention discloses a DWA algorithm improvement-based routing inspection unmanned vehicle dynamic path planning method, and the method comprises the steps: carrying out the sampling through combining an inertial measurement unit, odometer information and laser radar parameter information returned by a routing inspection unmanned vehicle, and obtaining the speed Vc of the routing inspection unmanned vehicle; the inspection unmanned vehicle continuously emits laser to the periphery through a laser radar probe, and the speed Vb of the dynamic obstacle is obtained through sampling; judging whether the polling unmanned vehicle is likely to collide with the dynamic obstacle or not, finding out a collision point when the polling unmanned vehicle is likely to collide with the dynamic obstacle, and optimizing the traveling speed and direction of the polling unmanned vehicle; randomly generating a plurality of motion paths of the inspection unmanned vehicle by using a dynamic window method, and evaluating each path in the plurality of obtained paths through an evaluation function; and judging a final path generated when the inspection unmanned vehicle traverses to the terminal point, and when the final path approaches to the global path and the autonomous obstacle avoidance path does not collide with the dynamic obstacle, taking the generated final path as an optimal path, and ending the path planning.

    一种基于DWA算法改进的巡检无人车动态路径规划方法,结合惯性测量单元、里程计信息和巡检无人车传回的激光雷达参数信息,采样得到巡检无人车的速度Vc;巡检无人车通过激光雷达探头持续的向四周发射激光,采样得到动态障碍物的速度Vb;判断巡检无人车与动态障碍物是否存在碰撞的可能,当存在碰撞的可能性时找出碰撞点,优化巡检无人车的行进速度和方向;利用动态窗口法随机生成若干条巡检无人车的运动路径,在得到的若干条路径中通过评定函数对每条路径进行评价;对巡检无人车遍历到终点时所生成的最终路径进行判断,当最终路径趋近于全局路径时,自主避障路径没有与动态障碍物发生碰撞时,生成的最终路径则为最优路径,结束路径规划。


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    Title :

    Improved inspection unmanned vehicle dynamic path planning method based on DWA algorithm


    Additional title:

    一种基于DWA算法改进的巡检无人车动态路径规划方法


    Contributors:
    ZHAO ZHIGUO (author) / WAN XIAOKANG (author) / PANG MIN (author) / XIE DONG (author) / XU ZHEN (author) / MAO KANGKANG (author) / WANG RUI (author) / WEI XIAOQIAN (author)

    Publication date :

    2023-08-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES



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