Planning and control method of a crawler-type unmanned vehicle on cliff obstacle road

Abstract

The invention provides a planning and control method of a crawler-type unmanned vehicle on a cliff obstacle road. The planning and control method comprises the steps of: planning a path on a road witha cliff; processing cliff obstacle data information; and planning and controlling gaits during the climbing of the cliff with a complex shape. A path planning system is added to the crawler-type unmanned vehicle; when the vehicle encounters the cliff during running, the vehicle plans an optimal path and sends the optimal path to a path tracking system; the detected size data of the cliff are calculated and judged; a working section of the crawler-type unmanned vehicle climbing the cliff is selected through a designed cost function; and a control time sequence and a control method are calculated and designed according to the size data of the cliff and the size data of the vehicle, so that the crawler-type unmanned vehicle can climb the complex cliff with variable height.

Description

Technical field [0001] The invention relates to the technical field of planning and control of unmanned vehicles, in particular to a planning and control method for tracked unmanned vehicles on cliff-obstacle roads. Background technique [0002] In recent years, tracked unmanned vehicles have become more and more widely used in fire fighting, rescue in earthquake areas, and battlefield operations. However, various complex environments place higher requirements on the intelligence of crawler unmanned vehicles and the trafficability of terrain. Therefore, many new structures and new planning methods of crawler unmanned vehicles have been proposed. For example, the patent application number "CN201610241122.9" for the invention patent "a highly maneuverable and highly adaptable ground unmanned vehicle" proposes a quadrilateral hexapod structure to improve the vehicle's off-road capability; and the patent application number is " CN201710350810.3" invention patent "a hexapod unmanned ...

AI Technical Summary

Problems solved by technology

However, the shape of the steps that can be climbed by this method is relatively ideal, and it is not suitable for climbing complex cliffs with varying heights on the road in the off-road environment; and the decision-making conditions for judging whether to climb the steps in this method are relatively simple, and the height of the steps is not considered. The impact of various size parameters on the passability; and the method is less intelligent, when encountering an insurmountable situation, the vehicle can only stop and call the police, which cannot meet the actual off-road needs

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