An unmanned vehicle control method and an unmanned lawnmower
A control method and unmanned vehicle technology, applied in the direction of vehicle position/route/height control, control/regulation system, non-electric variable control, etc., to achieve accurate and effective position deviation and angle deviation
Active Publication Date: 2020-04-21
JIANGXI HONGDU AVIATION IND GRP
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[0006] The object of the present invention is to provide an unmanned vehicle control method and an unmanned lawnmower to solve at least one problem existing in the existing unmanned vehicle and unmanned lawnmower control methods
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[0053] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below in conjunction with the drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below ...
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The present invention relates to the design of an unmanned vehicle and its control method, and in particular to an unmanned vehicle control method and an unmanned lawn mowing vehicle. The unmanned vehicle control method includes the following steps: obtaining the position information and attitude information of the unmanned vehicle at the current moment; calculating the distance deviation and angle deviation between the position and heading of the unmanned vehicle at the current moment and the planned path; when the distance deviation is not When the distance deviation threshold is less than the distance deviation threshold and the distance deviation threshold is greater than the distance deviation threshold, the steering angle of the steering mechanism of the unmanned vehicle is obtained respectively; the obtained steering angle of the steering mechanism of the unmanned vehicle is sent to the unmanned vehicle in the form of a control instruction. The unmanned vehicle control method and the unmanned lawn mowing vehicle of the present invention can obtain the precise position and attitude information of the unmanned lawn mower, and the position deviation and angle deviation calculated based on the planned path are more accurate and effective; in addition, various measures can be taken according to different situations. Different corrective steering strategies can ensure a quicker return to the correct track.
Description
technical field [0001] The invention relates to the design of an unmanned vehicle and a control method thereof, in particular to an unmanned vehicle control method and an unmanned lawnmowing vehicle. Background technique [0002] With the rapid development of science and technology, the development of unmanned vehicles has attracted more and more attention. Major automakers and technology companies at home and abroad have invested a lot of energy in the research and development of unmanned vehicles. An unmanned vehicle is a comprehensive robotic system that integrates multiple functions such as environmental perception, path planning, and decision-making control. [0003] Among them, the decision-making control is equivalent to the brain of the unmanned vehicle. Its main function is to make decision-making judgments based on the information obtained by the perception system, and then make decisions on the next behavior and control how the vehicle moves. Therefore, decision-...
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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276G05D1/0278
Inventor 张孝勇郑友胜陈寿辉齐洪豪谢训鹏吴添成
Owner JIANGXI HONGDU AVIATION IND GRP