Unmanned vehicle obstacle avoidance path planning method based on improved intelligent water drop algorithm

Abstract

The invention discloses an unmanned vehicle obstacle avoidance path planning method based on an improved intelligent water drop algorithm. The movement performance of an unmanned vehicle and influences of obstacles in a surrounding operation environment are comprehensively considered. The method comprises the steps of: performing scanning by millimeter wave radar, and modeling the surrounding environment of the unmanned vehicle; and by adopting an improved intelligent water drop algorithm, setting a water flow movement speed and sediment content parameters to simulate a mechanism that water flow and sediment interact to form a water channel, so that the problems of obstacle avoidance and path planning in the running process of the unmanned vehicle are solved, an internal iterative functionand an updating relation are optimized, and the defects that heuristics are insufficient, and the unmanned vehicle is prone to falling into local optimum are overcome. The method can be applied to path planning for the unmanned vehicle to avoid dynamic and static obstacles.

Description

technical field [0001] The invention relates to a path planning method for an unmanned vehicle obstacle avoidance, in particular to an unmanned vehicle obstacle avoidance path planning method based on an improved intelligent water drop algorithm. Background technique [0002] The unmanned vehicle perceives the surrounding environment information through a variety of sensors set on it, and controls the steering and speed of the vehicle according to the obtained information, and finally realizes safe and reliable autonomous driving function. The key technologies of unmanned vehicles include environment perception, navigation and positioning, path planning and decision-making control. Path planning for unmanned vehicles is to search for an optimal path in an environment with obstacles according to certain evaluation criteria according to a certain path planning algorithm. [0003] The millimeter-wave radar sensor is a radar whose operating frequency is selected in the frequenc...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a reliable and effective path planning method for unmanned vehicle obstacle avoidance based on the improved intelligent water drop algorithm, which solves the problem of obstacle avoidance and path planning in the process of unmanned vehicle driving, and optimizes the internal iterative function and update relationship at the same time , overcomes the shortcomings of insufficient heuristics and easy to fall into local optimum

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