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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

Active Publication Date: 2019-05-14
ZHEJIANG UNIV
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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a topological map-based unmanned vehicle planning control method to solve the problem that the sparse environment map is difficult to integrate into the planning control system

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  • A planning and control method for unmanned vehicles based on topological maps
  • A planning and control method for unmanned vehicles based on topological maps
  • A planning and control method for unmanned vehicles based on topological maps

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Embodiment Construction

[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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Abstract

The invention discloses an unmanned vehicle planning and control method based on a topological map. Run the unmanned vehicle multiple times in map building mode, and obtain a different sequence of keyframe coordinates for each run. The geographical proximity between different keyframe coordinates is calculated based on Euclidean distance to identify the intersection points of different running keyframe sequences. These intersection points serve as nodes of the topological map, connecting multiple trajectories together to form an entire map. By executing path planning based on the heuristic graph search algorithm on this topological map, the path intersection sequence can be obtained. This path intersection sequence can be used to index the original dense keyframe coordinates. These coordinates are input to the trajectory planning result as The unmanned vehicle control execution system realizes the position tracking of the unmanned vehicle.

Description

technical field [0001] The invention belongs to the technical field of autonomous navigation of mobile robots, in particular to an unmanned vehicle position tracking method based on a sparse visual feature map. Background technique [0002] With the development of mobile robot technology, independent establishment of environmental maps for unstructured scenes and safe navigation control based on the established environmental maps have become increasingly urgent core requirements, which are the basis for achieving high-level tasks for mobile robots support. In order to improve the efficiency of map creation, the general method is to extract the sparse feature information of the environment for calculation, and the final generated map is also a sparse expression form, so it is difficult to be directly used for path planning and control of autonomous mobile platforms. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0257G05D1/0274
Inventor 刘勇张高明张涛
Owner ZHEJIANG UNIV
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