A planning and control method for unmanned vehicles based on topological maps
A topological map and planning control technology, which is applied in two-dimensional position/channel control, vehicle position/route/altitude control, control/regulation system, etc., can solve the problem of difficult integration of sparse environmental maps, and achieve compact expression form, The effect of a high level of abstraction
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[0065] In order to better understand the technical solution of the present invention, further description will be made below in conjunction with the accompanying drawings.
[0066] A method for planning and controlling an unmanned vehicle based on a topological map, comprising the following steps: a method for planning and controlling an unmanned vehicle based on a topological map, comprising the following steps:
[0067] Step 1, the unmanned vehicle builds the map multiple times and stores the key frame coordinate sequence. The process of building the map each time is as follows: start the unmanned vehicle, the unmanned vehicle is equipped with a binocular camera, and set the unmanned vehicle to random exploration The automatic operation mode of the environment; start the binocular camera, collect the environmental image, build a sparse visual feature map, and store the key frame pose sequence in the form of a text file to the local disk of the on-board computer;
[0068] The...
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