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Unmanned all-terrain vehicle control method based on preview

An all-terrain vehicle and preview technology, applied in two-dimensional position/course control, vehicle position/route/height control, control/adjustment system, etc., can solve the problem of driving direction adjustment, time-consuming and labor-intensive, and inability to change vehicle speed in advance, etc. problems, to achieve the effect of avoiding emergency braking, flexible and stable steering, and improving ride comfort

Inactive Publication Date: 2016-03-23
JILIN UNIV
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Without the help of a preview, when working in a harsh environment, it is impossible to detect obstacles in advance, analyze obstacles, find the best path or method to pass through obstacles, and cannot change the vehicle speed, driving direction, and adjust the softness and hardness of the shock absorber in advance
Therefore, when faced with obstacles, it is often forced to pass, resulting in time-consuming and labor-intensive efforts, and the advantages of the unmanned all-terrain wheel-leg walking system cannot be better utilized.
[0003] Current all-terrain vehicles lack a control method with a preview function, and cannot meet the requirements of unmanned all-terrain vehicles operating in complex terrain

Method used

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  • Unmanned all-terrain vehicle control method based on preview
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  • Unmanned all-terrain vehicle control method based on preview

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Embodiment Construction

[0043] A kind of unmanned all-terrain wheel leg walking system control method of the present invention will be further described below in conjunction with accompanying drawing:

[0044] figure 1 , 2 Shown: The unmanned all-terrain vehicle includes two parts: the control system and the unmanned all-terrain wheel-leg walking system;

[0045] The control system includes:

[0046] A detection module for detecting the driving environment,

[0047] an analysis module for analyzing the detection results,

[0048] A preview module to develop an optimal strategy for passing obstacles based on the analysis results,

[0049] Execution module for execution according to the best strategy;

[0050] figure 2 Shown: the executive module includes four controllers of a speed controller, a steering controller, a damping controller and a swing leg controller, and also includes an in-wheel motor 13, a steering drive device 2, a shock absorber (including shock absorber one 19 And shock abso...

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Abstract

The invention relates to an unmanned all-terrain vehicle control method based on preview. The unmanned all-terrain vehicle comprises a control system and an unmanned all-terrain vehicle wheel walking system, wherein the control system comprises a detection module for detecting the driving environment, an analysis module for analyzing the detection result, a preview module for making an optimum obstacle passing strategy according to the analysis result, and an execution module for execution according to the optimum strategy; the unmanned all-terrain vehicle wheel walking system comprises a steering mechanism for controlling the driving direction, a main vibration damping mechanism for buffering and damping the ground excitation, an auxiliary vibration damping mechanism for assisting buffering and damping of the ground excitation, and a walking mechanism for controlling the driving speed and direction; and the control method comprises the steps: detecting the driving environment, analyzing the detection result, making the obstacle passing strategy and performing execution according to the strategy. The unmanned all-terrain vehicle can make a strategy and preparation for passing an obstacle in advance, and can save the time, improve the efficiency and reduce vibration.

Description

technical field [0001] The invention relates to the field of all-terrain vehicles, in particular to a control method for unmanned all-terrain vehicles based on preview. technical background [0002] With the continuous development and improvement of all-terrain vehicle technology, all-terrain vehicles will be widely used in resource exploration, jungle search and rescue, beach pursuit, engineering exploration, military reconnaissance, disaster search and rescue and other fields. The control method of the all-terrain wheel-leg traveling mechanism directly affects the driving speed, passability and comfort. Without the help of a preview, when working in a harsh environment, it is impossible to find obstacles in advance, analyze obstacles, find the best path or method to pass through obstacles, change the speed, direction of travel, and adjust the softness and hardness of the shock absorber in advance. Therefore, when facing obstacles, it is often forced to pass, resulting in ...

Claims

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Application Information

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IPC IPC(8): G05D1/02B62D57/028
CPCG05D1/0268B62D57/028
Inventor 马芳武赵花垒蒲永锋杨猛佘烁熊长丽
Owner JILIN UNIV
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