Bionic swarm intelligence-based real-time positioning navigation and motion control method and system for moving vehicle
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A bionic group and motion control technology, applied in the field of motion control, real-time positioning and navigation of mobile vehicles, can solve the problems of low reliability
Inactive Publication Date: 2014-03-12
NORTHWESTERN POLYTECHNICAL UNIV
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[0009] In order to overcome the low reliability of the existing vehicle GPS and its combined positioning system in the urban environment, the
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Embodiment 1
[0047] Example 1. This embodiment describes in detail the steps of the mobile vehicle real-time positioning navigation and motion control method based on bionic swarm intelligence:
[0048] Step 1: At time t, the vehicle V to be positioned and its adjacent vehicles V1, V2, V3, V4, V5, V6 and the information node N1 form a wireless communication network, and the vehicles V1, V2, V3, V4, V5, V6 and the information node The coordinates of N1 are known, and the location coordinates of N1 are broadcast to the vehicle V through the wireless network.
[0049] Step 2: The vehicle V to be positioned receives the location coordinate information sent by the neighbor vehicles V1, V2, V3, V4, V5, V6 and the information node N1, and at the same time measures the distance between itself and the neighbor vehicles V1, V2, V3, The distance d between V4, V5, V6 and information node N1 v1 、d v2 、d v3 、d v4 、d v5 、d v6 、d N1 .
[0050] d i = ct i , i = v1, v2, v3, v4, v5, v6, N1 (1)
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Embodiment 2
[0070] Example 2. This embodiment describes in detail the structure of the mobile vehicle real-time positioning navigation and motion control system based on bionic swarm intelligence:
[0071] The data processing module and path planning module in the structure adopt TMS320F2808 chip; the wireless communication module adopts NRF905 chip; the storage module adopts W25X16AVSIG chip; the sensor module includes CCD sensor TSL1401CL, accelerometer LSM303DLHC; the vehicle control module adopts MC9S12XS128MAA chip; the display module is LCD1602 display screen.
[0072] The vehicle control terminal module in the present invention includes: a wireless communication module, a data processing module, a data acquisition module, a vehicle control module, a path planning module, a storage module and a display module. The data processing module obtains the parameters required for positioning from the wireless communication module, establishes a positioning equation group, and uses the bee ...
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Abstract
The invention discloses a bionic swarm intelligence-based real-time positioning navigation and motion control method for a moving vehicle and is used for solving the technical problem of lower reliability of the existing real-time positioning navigation and motion control method for the moving vehicle. The technical scheme is that the method comprises the steps of firstly selecting the vehicle and information nodes of known coordinates in a complex road as the positioning reference nodes, converting the equation set positioning and solving problem into the extreme value optimizing problem, and adopting a bionic swarm algorithm to solve the positioning coordinates. For the control on driving among multiple vehicles, a bionic swarm motion model is established to control the motion among the vehicles by establishing the bionic swarm behaviors, and the controllability on the real-time positioning and navigation and the motion control for the moving vehicle is improved. The real-time positioning navigation and motion control system for the moving vehicle is formed by a vehicle-mounted terminal module, a road information node module and a road traffic control center module. The three modules cooperatively work to realize the real-time positioning navigation and motion control on the moving vehicle.
Description
technical field [0001] The invention relates to a method for real-time positioning, navigation, and motion control of a mobile vehicle based on bionic swarm intelligence, and also relates to a real-time positioning, navigation, and motion control system for a mobile vehicle based on bionic swarm intelligence. Background technique [0002] Vehicle automatic positioning technology is a key technology involved in many fields of intelligent transportation system. At present, the main practical application of vehicle positioning technology is mainly GPS positioning, and combined positioning technology based on GPS. [0003] Document 1 "Chinese utility model patent whose patent announcement number is CN201741289U" discloses a vehicle positioning device. The positioning device is mainly equipped with a GPS module, and the vehicle performs real-time positioning by receiving GPS signals. [0004] Document 2 "Li Guifang, Research on Vehicle GPS / DR Integrated Navigation Based on UPF A...
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