Range-finding sensor based real-time obstacle avoidance method of driveless car

A distance measuring sensor, unmanned vehicle technology, applied in the field of artificial intelligence, to achieve the effect of strong early warning, stable performance and good real-time performance

Pending Publication Date: 2017-04-19
ZHEJIANG UNIV
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AI Technical Summary

Problems solved by technology

Most of the above algorithms rely on global or semi-global environmental maps, and path planning and real-time obstacle avoidance in unknown environments are challenging tasks that require the support of online perception from the perception system. The safe operation of the robot system, while exploring the environment, iteratively optimizing the walking path, and avoiding dynamic obstacles in the unstructured environment are the problems that this patent tries to solve

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  • Range-finding sensor based real-time obstacle avoidance method of driveless car
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  • Range-finding sensor based real-time obstacle avoidance method of driveless car

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Embodiment Construction

[0050] In order to better understand the technical solution of the present invention, further description will be made below in conjunction with the accompanying drawings.

[0051] Step (1): The point cloud information is collected by the ranging sensor carried by the unmanned vehicle or the point cloud information is collected by a binocular camera;

[0052]If a binocular camera is used for acquisition, calculation is required to obtain point cloud information. The calculation includes image correction calculation, binocular matching calculation, and triangular distance measurement calculation. Then, the obtained point cloud information is cached as a point cloud vector, and the coordinates of all point clouds All refer to the body coordinate system with the center of the unmanned vehicle as the origin, the front as the x-axis, and the left as the y-axis.

[0053] In step (1): including adopting laser radar to obtain point cloud: as figure 1 As shown, the dotted line part is...

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Abstract

The invention discloses a real-time obstacle avoidance algorithm independent from sensors. Point cloud data from a binocular camera, a laser radar and a supersonic distance sensor serves as a computing data source, and reference planar information of a chassis of a driveless car is fit to obtain obstacle avoidance information. A concept named a virtual force is provided, the virtual force serves as a computing framework, and the safe driving direction of the driveless car is calculated. According to the severe degree of change of the driving direction, the linear movement speed of the driveless car is set dynamically and adaptively.

Description

technical field [0001] The invention belongs to the field of artificial intelligence and relates to a sensor-independent real-time obstacle avoidance method. Background technique [0002] Obstacle avoidance is a necessary function of a mobile robot and one of the important manifestations of its intelligence. Even a mobile robot without a clear mission or goal requires reliable obstacle avoidance behavior to ensure its own safety. For the real-time obstacle avoidance problem, given real-time sensor information, obstacle avoidance means adjusting the trajectory given by the robot path planning system to avoid collisions. The obstacle avoidance planning algorithm depends on the existence of the global map and the positioning information relative to the map to varying degrees. [0003] Typical obstacle avoidance algorithms include the simplest Bug algorithm, vector field histogram algorithm (VFH) and its improved VFH+ algorithm and VFH* algorithm, bubble strip algorithm, curva...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/93G01S17/08
CPCG01S17/08G01S17/931
Inventor 刘勇张高明张涛
Owner ZHEJIANG UNIV
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