A control method of unmanned all-terrain vehicle based on preview

Abstract

The invention relates to a control method for an unmanned all-terrain vehicle based on preview. The unmanned all-terrain vehicle includes two main parts: a control system and an unmanned all-terrain wheel leg walking system; the control system includes: used to detect A detection module of the driving environment, an analysis module used to analyze the detection results, a preview module used to formulate the best strategy for passing obstacles based on the analysis results, and an execution module used to execute based on the best strategy; the unmanned all-terrain wheel The leg walking system includes: a steering mechanism used to control the driving direction, a main damping mechanism used to buffer and attenuate ground excitations, an auxiliary damping mechanism used to assist in buffering and attenuating ground excitations, and a walking mechanism used to control the driving speed and direction. mechanism. The control method includes the steps of detecting the driving environment, analyzing the detection results, formulating an obstacle crossing strategy, and executing the strategy according to the strategy. The all-terrain vehicle of the present invention can make strategies and preparations for passing obstacles in advance, saving time, improving efficiency, and reducing 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 ...

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

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