Urban environment composition method for unmanned vehicles

A technology of urban environment and unmanned vehicles, applied in the field of urban environment composition of unmanned vehicles, can solve problems such as limiting the application range of algorithms, filter divergence, large number of particles, etc., achieve high autonomy and anti-interference ability, and avoid calibration and error, the effect of improving efficiency

Active Publication Date: 2015-07-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

EKF and RBPF are widely used as classic algorithms in the SLAM field, but the EKF algorithm is based on the strong assumption that the robot motion model and sensor noise are Gaussian distributions. When this assumption is not satisfied, the filter will diverge. This assumption is not satisfied in most cases...

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  • Urban environment composition method for unmanned vehicles
  • Urban environment composition method for unmanned vehicles
  • Urban environment composition method for unmanned vehicles

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Embodiment Construction

[0035] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0036] The invention discloses a 3D laser point cloud-based urban environment composition method for unmanned vehicles, such as figure 1 As shown, it includes three parts: data preprocessing, motion update and observation update. Among them, the motion update uses the ICP algorithm to achieve rough estimation, and the pose estimation is based on Gaussian distribution. The observation update includes two parts: the particle weight and the global map update.

[0037] In the data preprocessing, an effective point cloud frame is selected first. The frequency of lidar is 10Hz, that is, 10 frames of data are returned per second. If each frame of data is processed, a large amount of redundant data will bring a heavy burden to the algorithm. The data frames are sampled at equal time intervals, and the subsequent point cloud matching algorithm ICP is sensitive to ...

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Abstract

The invention discloses an urban environment composition method for unmanned vehicles. Under the condition of being independent of external positioning sensors such as speedometers, GPS and inertial navigators, the trajectory tracking and environment map building of an unmanned vehicle are completed by just using few particles for 3D laser-point cloud data returned by a vehicle-mounted laser radar, thereby providing basis for the autonomous running of the unmanned ground vehicle in an unknown environment; and according to the invention, an ICP algorithm is applied to adjacent two frames of data so as to obtain a coarse estimation on the real position and posture of a vehicle, and then redundance is performed near the coarse estimation based on gaussian distribution. Although the coarse estimation is not the real position and posture of the vehicle, the coarse estimation is a high-probability area of the real position and posture of the vehicle, so that an effect of relatively accurate positioning and composition is achieved by using a small amount of particles in the process of subsequent redundance, thereby avoiding the fitting of a vehicle trajectory by using a large amount of particles in a traditional method, improving the efficiency of the algorithm, and effectively restraining a phenomenon of particle degeneracy caused by bad particle estimation.

Description

technical field [0001] The invention relates to the technical field of positioning and composition based on unmanned ground vehicles, in particular to an urban environment composition method for unmanned vehicles. Background technique [0002] As a research hotspot in the field of intelligent robotics, unmanned ground vehicles have important application prospects in intelligent transportation systems and military security. Unmanned vehicles are intelligent. They can assist driving when the driver is drunk or fatigued, remind them in time of operating errors, and issue an alarm in time when a vehicle hardware or software failure is detected, so as to reduce traffic accidents and improve traffic safety. Unmanned vehicles in the military field can replace people to perform tasks in dangerous places and complete field material transportation, ensuring the safety of soldiers and reducing casualties. [0003] Positioning and composition are important research contents in the fiel...

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Application Information

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IPC IPC(8): G01C21/32
CPCG01C21/32
Inventor 王美玲李玉杨毅朱昊吕宪伟
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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