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Environment detection method in unmanned vehicle target search system

A detection method and target search technology, applied in the field of environmental detection in the target search system of unmanned vehicles, can solve problems such as immaturity, and achieve the effects of good vehicle tracking, shortening search time, and increasing the probability of detection

Active Publication Date: 2018-12-11
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, there is no mature solution for the environment detection method of unmanned vehicles used in target search tasks, and there are still many key technical issues to be improved

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  • Environment detection method in unmanned vehicle target search system
  • Environment detection method in unmanned vehicle target search system
  • Environment detection method in unmanned vehicle target search system

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Embodiment Construction

[0056] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principle of the present invention.

[0057] A specific embodiment of the present invention discloses an environment detection method in an unmanned vehicle target search system, which realizes autonomous environment detection based on edge area guidance in an unknown environment.

[0058] Such as figure 1 shown, including the following steps:

[0059] Step S1, creating the global environment map of the unmanned vehicle and the field of view coverage map of the vehicle camera;

[0060]Lidar can provide real-time environmental information around the vehicle body, quickly obtain the position information of obstacles in the environment relative to the vehicle body, and can be used to quickly...

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Abstract

The invention relates to an environment detection method in an unmanned vehicle target search system, which comprises the following steps of S1, creating an unmanned vehicle global environment map andan onboard camera field of view coverage map; S2, performing combined environment search on a target to be searched at a current position, extracting and evaluating edge regions to determine the target point position of the unmanned vehicle in the next step; S3, generating a collision-free desired path, controlling the unmanned vehicle to reach the target point position; and S4, determining whether the target to be searched is located at the target point position, and completing the environment detection if so, or returning to the S1 if not. The method realizes the autonomous environment detection based on edge region guidance in an unknown environment and realizes efficient search for the target to be detected in an unknown region, and a planned travel path realistically reflects the driving characteristics of the vehicle.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to an environment detection method in an unmanned vehicle target search system. Background technique [0002] As an important research field of robotics, autonomous detection technology in unknown environments is widely used in scenarios without prior environmental information. In fact, in many practical applications, a priori environmental information is not available, so the robot must have the ability to autonomously detect the environment in an unknown working environment in order to complete other tasks such as navigation and target search. At present, the environment detection strategy based on the guidance of the edge area is widely used on omnidirectional small mobile robots. Usually, the environment detection strategy is combined with the synchronous positioning and map creation technology to complete the task of creating an environment map for the unknown environ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/0251G05D1/0257G05D1/0276G05D1/0278G05D1/0248G05D1/0274
Inventor 龚建伟关海杰杨磊周文凯齐建永吴绍斌
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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