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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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

Method used

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

Examples

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

[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] The detection module used to detect the driving environment,

[0047] The analysis module used to analyze the detection results,

[0048] A preview module used to formulate the best strategy for passing obstacles based on the analysis results,

[0049] Execution module used to execute according to the best strategy;

[0050] figure 2 Shown: The execution module includes four controllers: a speed controller, a steering controller, a damping controller, and a leg swing controller. It also includes a hub motor 13, a steering drive device 2, a shock absorber (including a shock absorber 19 And shock absorber 2 22)...

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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
CPCB62D57/028G05D1/0268G05D2201/0207
Inventor 马芳武赵花垒蒲永锋杨猛佘烁熊长丽
Owner JILIN UNIV
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