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An autonomous vehicle obstacle avoidance method based on arc path generation

A technology for path generation and autonomous vehicles, which can be used in road network navigators, collision avoidance systems, etc., and can solve problems such as the inability to meet the requirements of four-wheel vehicle obstacle avoidance

Active Publication Date: 2016-09-14
SOUTH CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, the existing BUG algorithm is not suitable for four-wheel vehicles, and cannot meet the obstacle avoidance navigation requirements of four-wheel vehicles with non-360° detection range

Method used

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  • An autonomous vehicle obstacle avoidance method based on arc path generation
  • An autonomous vehicle obstacle avoidance method based on arc path generation
  • An autonomous vehicle obstacle avoidance method based on arc path generation

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Embodiment

[0062] The autonomous vehicle obstacle avoidance method based on arc path generation in this embodiment includes the following steps: 1. Obtain the position of the vehicle at any time through the positioning system; 2. According to the measurement information of the detection sensor on the vehicle, determine a specific area within the detection range Whether there are obstacles inside and the distance between the vehicle and obstacles; 3. Add a turning route selection mechanism under "walking around obstacles", generate multiple arc candidate routes and determine the optimal obstacle avoidance based on obstacle information Driving route; 4. According to the distribution of obstacles, the vehicle can choose two modes of "going towards the target" or "walking around obstacles" to realize collision-free navigation of the target point in an unknown environment. Figure 9 The working principle flow chart of the present invention is given, and the specific implementation is described...

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Abstract

The invention discloses an autonomous vehicle obstacle avoidance method based on an arc path. The autonomous vehicle obstacle avoidance method comprises the following steps of: S1, acquiring the position of a vehicle at any moment through a positioning system; S2, judging whether an obstacle exists in a specific region of a detection range or not, and if so, measuring the distance between the vehicle and the obstacle; S3, selecting a manner of advancing toward a target or walking around the obstacle by the vehicle according to an obstacle distribution condition to realize collision-free navigation towards a fixed target point in an unknown environment; and S4, adding a turning route selection mechanism in the manner of walking around the obstacle, and determining an optimal obstacle avoidance driving route according to the information of the obstacle. The autonomous vehicle obstacle avoidance method disclosed by the invention sufficiently utilizes the advantages of a BUG obstacle avoidance algorithm, and the vehicle is only required to have a detection range of 180 degrees; a physical size and a driving character of the vehicle are also considered and the problem that a four-wheeled vehicle in a non-360-degree detection range cannot use the BUG algorithm is solved; continuous and smooth by-pass movements by navigation obstacle avoidance is realized through a transition path track generated at a turning point.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to an obstacle avoidance method for an autonomous vehicle based on arc path generation. Background technique [0002] The obstacle avoidance planning problem of four-wheeled vehicles is the key to the safe driving of autonomous navigation vehicles. The standard BUG and its derivative algorithms are well-known sensor-based navigation algorithms that enable robots to avoid obstacles in unknown environments and reach designated destinations. Generally speaking, they combine It has the characteristics of global planning and local planning. Its path planning introduces some global information based on the direct application of sensor information. The implementation is relatively simple, and the algorithm itself guarantees convergence. It requires the robot to have a 360° detection range, and the default robot is one point, which automatically has the ability to circumvent obsta...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34G08G1/16
Inventor 赵祚喜谭志斌赵汝琪李姣姣黄培奎俞龙陈楚
Owner SOUTH CHINA AGRI UNIV
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