The invention belongs to the technical field of unmanned vehicle intelligent navigation, and particularly relates to an unmanned vehicle autonomous navigation system in an unstructured environment, which comprises an acquisition module, a mapping module, a planning processing module and a motion control module, the acquisition module is used for acquiring environment data; the mapping module is used for generating a local map according to the environment data; the planning processing module comprises a front-end path planning module and a rear-end trajectory optimization module; the front-end path planning module is used for expanding nodes in a continuous state space by using a mixed A * path planning algorithm when a proper path is searched according to a local map, and calculating a possible state at the next moment according to the current state of the unmanned vehicle by using a vehicle kinematics model, so that a search tree is constructed online, and the optimal path is searched; a path conforming to vehicle kinematics constraints is formed; and the rear-end track optimization module is used for smoothing the path searched by the front end, generating track points and sending the track points to the motion control module. The system can quickly and reliably complete path planning in an unstructured environment.
本发明属于无人车辆智能导航技术领域,尤其涉及一种非结构化环境下无人车辆自主导航系统,包括采集模块、建图模块、规划处理模块和运动控制模块;采集模块用于获取环境数据;建图模块用于根据环境数据生成局部地图;规划处理模块包括前端路径规划模块和后端轨迹优化模块;前端路径规划模块用于根据局部地图搜索适合的路径时,使用混合A*路径规划算法在连续的状态空间中扩展节点,通过使用车辆运动学模型,根据无人车辆当前状态计算出下一时刻可能的状态,从而在线构建搜索树,形成符合车辆运动学约束的路径;后端轨迹优化模块用于平滑前端搜索出的路径,并生成轨迹点发送给运动控制模块。本系统可以在非结构化环境中快速可靠的完成路径规划。
Unmanned vehicle autonomous navigation system in unstructured environment
一种非结构化环境下无人车辆自主导航系统
2024-04-26
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 |
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