An unmanned vehicle obstacle avoidance method based on a laser radar

Abstract

An unmanned vehicle obstacle avoidance method based on a laser radar comprises the following steps: firstly, a global path is planned and a plurality of sequence points is selected on the global pathto form a sequence point set; secondly, an unmanned vehicle travels according to the global path, and the following steps are performed during the traveling process: an R60 is used to obtain the real-time latitude and longitude information and direction angles of the unmanned vehicle; the vehicle speed is reduced when the unmanned vehicle is close to the sequence point; after the sequence point isreached, the sequence point is deleted from the sequence point set, and then the unmanned vehicle is driven to the next sequence point until the unmanned vehicle goes through all the sequence point set; a controller sends an obstacle scan request to the laser radar, and the laser radar responds to the obstacle scan request to obtain obstacle information; and when the obstacle is scanned, a control strategy is executed. According invention, obstacles are monitored in real time through the front laser radar, and the obstacles are avoided through the control strategy together with a PID-P algorithm. The obstacles at different distances are avoided through the method according the obstacle information returned by the front radar. The method is simple and highly efficient, is stable in performance and reduces the obstacle avoidance cost for the unmanned vehicle.

Description

technical field [0001] The invention relates to the field of obstacle avoidance for unmanned vehicles, in particular to an obstacle avoidance method for unmanned vehicles based on laser radar. Background technique [0002] The rapid development of science and technology has made people's demand for intelligent vehicles more and more high. Designing safer and more convenient vehicles is the future development trend. Among them, the level of obstacle avoidance ability is a key factor reflecting the intelligence of intelligent robots . A driverless car is a smart car that senses the road environment through an on-board sensor system, automatically plans a driving route, and controls the vehicle to reach a predetermined target. It uses on-board sensors to perceive the surrounding environment of the car, and controls the steering and speed of the vehicle according to the road, vehicle position and obstacle information obtained by the perception, so that the vehicle can drive saf...

AI Technical Summary

Problems solved by technology

However, monocular vision can only obtain two-dimensional image information of the environment, and cannot obtain depth information of environmental obstacles. Binocular vision has disadvantages such as poor real-time performance and complex calculations.

The obstacle avoidance method of mobile robots relying on ultrasonic or infrared ranging sensors has defects such as limited detection range, insufficient data volume of detection points, and affecting the accuracy of obstacle avoidance control of unmanned vehicles.

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