Autonomous navigation topological map generation method

Abstract

The invention discloses an autonomous navigation topological map generation method, which belongs to the technical field of ground unmanned platform autonomous navigation. The method comprises the following steps of: firstly, acquiring track points to form a track point sequence file comprising longitude and latitude information; then selecting a reference position of an application field as the basis for displaying and loading a background map on an interface; secondly, inputting the track points, and displaying in the interface by virtue of coordinate transformation; then selecting a topological map generation mode, and producing a topological map by using way-point operation; and finally generating and saving the topological map according to a way-point marking sequence. By adopting theautonomous navigation topological map generation method, the autonomous navigation topological map can be rapidly designed according to the positioning information acquired in time; and meanwhile, aroute can be conveniently changed and optimized, and the autonomous navigation actual application in a specific scene including airport dispatching, garden patrolling and the like can be realized.

Description

technical field [0001] The invention belongs to the technical field of autonomous navigation of ground unmanned platforms, and in particular relates to the generation of autonomous navigation topological maps, which facilitates the autonomous navigation of ground unmanned platforms according to the guidance of guiding waypoints. Background technique [0002] Autonomous navigation of unmanned ground platforms involves technologies such as environmental perception, path planning, vehicle motion control, autonomous decision-making, and navigation and positioning. By giving the start point and end point of the task, as well as a series of necessary waypoints from the start point to the end point, together constitute the guiding route for autonomous navigation, that is, the topological map, so that the ground unmanned platform can realize autonomous driving according to the guidance of the topological map , reaching the end of the task. The purpose of the present invention is to...

AI Technical Summary

Problems solved by technology

[0003] Since the autonomous navigation technology of ground unmanned platforms is still immature and involves many technical fields, there is currently a lack of targeted autonomous navigation topological map generation tools, which can only be generated with the aid of some existing map viewing tools or geographic information systems Topological Maps for Autonomous Navigation

However, the existing tools are not aimed at generating topological maps for autonomous navigation, and lack pertinence. The main problems are as follows: 1. There are positioning errors

At present, there is usually a deviation between the map positioning information of existing tools and the real positioning, and it cannot meet the actual needs for scenarios with high requirements for autonomous navigation control accuracy

2. The operation is cumbersome

Since the current tools are not specific to the generation of autonomous navigation topological maps, there are a series of format conversion problems in terms of waypoint selection, data storage and longitude and latitude conversion, and the operation is complicated

3. Single function

Existing tools currently only include basic functions such as waypoint selection, deletion, and storage, and do not support complex function requirements such as topological map route adjustment and waypoint interpolation, and it is difficult to meet the actual needs of the topological map guidance route adjustment process

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