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Matlab simulation visualized platform of vehicle Bug obstacle avoidance algorithm

An algorithm and vehicle technology, applied in the field of computer simulation, can solve problems such as complex implementation

Active Publication Date: 2014-09-03
SOUTH CHINA AGRI UNIV
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Problems solved by technology

At present, the robot simulation software Mobilesim is widely used. Mobilesim is a user-customized simulation tool platform that can be extended to all robots and their accessories. This platform can be connected to various sensors. Combined with the VS debugging platform, you can directly see the robot walking situation, but its algorithm must be programmed with the help of Aria library functions, which is complicated to implement

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  • Matlab simulation visualized platform of vehicle Bug obstacle avoidance algorithm
  • Matlab simulation visualized platform of vehicle Bug obstacle avoidance algorithm
  • Matlab simulation visualized platform of vehicle Bug obstacle avoidance algorithm

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Embodiment Construction

[0058] The present invention will be further described below in conjunction with specific examples.

[0059] The Matlab simulation visualization platform of the vehicle Bug obstacle avoidance algorithm described in this embodiment is to utilize MATLAB software to create the vehicle obstacle avoidance simulation visualization platform under the combination of Simulink simulation technology and GUI interface design, as Figure 10 and Figure 11 As shown, the animation simulation of the obstacle avoidance algorithm can be carried out. It includes:

[0060] 1) The environment map generation part is used to generate the map for simulation;

[0061] 2) Simulink algorithm simulation implementation part. The algorithm implementation depends on the Simulink cycle operation mode. The Simulink cycle mechanism is used to realize the internal cycle of the algorithm and the trigger condition stops. In the form of a block diagram, for calling, each cycle of Simulink represents a laser sen...

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Abstract

The invention discloses a Matlab simulation visualized platform of a vehicle Bug obstacle avoidance algorithm. The platform comprises an environmental map generation part, a Simulink algorithm simulation realization part and a GUI animation simulation effect interface, each of the parts and interface is realized by software simulation or physical hardware, so that the platform can be applied to the whole development and verification process from purely software simulation to complete physical robot system operation. An environmental map can be drafted via a mouse, or generated via file introduction, or created in real time via data collected by external sensors; the Simulink algorithm simulation realization part realizes internal recycling of the algorithm or stops triggering conditions based on a Simulink cycled operation mode; and the GUI animation simulation effect interface mainly simulates movement of a vehicle according to the obstacle avoidance algorithm. The broken-line Bug algorithm, arc Bug algorithm, laser range finder, panorama camera and the like are practically verified, operation of the platform is simple and friendly, and the research and development efficiency of obstacle avoidance algorithm of autonomous vehicle navigation is greatly improved.

Description

technical field [0001] The invention relates to the technical field of computer simulation, in particular to a Matlab simulation visualization platform of a vehicle bug obstacle avoidance algorithm. Background technique [0002] Scholars at home and abroad have done a lot of research on obstacle avoidance methods, and proposed many feasible methods, such as BUG algorithm, artificial potential field method, vector field histogram method, dynamic window method, visual graph method, tangent graph method, etc. . In the research of the algorithm, its effect must be verified at the same time. There are two methods, one is through experiment verification, and the other is through computer simulation verification. Experimental verification needs to face the interference brought by the experimental process, such as the accuracy of obtaining obstacle information, steering error during robot or vehicle operation, positioning error, etc. These interferences have little to do with the c...

Claims

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Application Information

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IPC IPC(8): G05B17/02
Inventor 赵祚喜李姣姣黄培奎谭志斌施磊曹文君吴志伟陈嘉琪陈楚
Owner SOUTH CHINA AGRI UNIV
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