Large-scale track smoothing method for open road unmanned cleaning sweeper truck

Abstract

The invention discloses a large-scale track smoothing method for an open road unmanned cleaning sweeper truck. The method comprises the following steps: connecting a lane center line, and obtaining alarge-scale original guide line track; linearly interpolating the original guide line track according to a fixed distance, establishing a kinematic model of the unmanned cleaning sweeper truck, and setting track point attributes; segmenting a guide line track with track point attributes, and opening up a smoother thread; setting an objective function of smoothing processing according to a task scene demand of the open road unmanned cleaning sweeper truck; constructing geometric constraints and kinematic model related constraints; carrying out automatic differentiation by adopting an IPOPT nonlinear optimization mode in the smoother thread and an automatic differential tool Casadi; and obtaining coordinates of all the smoothed track points, forming a smoothed track, and enabling the unmanned cleaning sweeper truck to move according to the track, thus completing the whole smoothing process. It can be guaranteed that the unmanned cleaning sweeper truck stably operates according to a set track, the smoothing processing efficiency is high, and the smoothing optimization time is greatly shortened.

Description

technical field [0001] The invention relates to a large-scale trajectory smoothing method, in particular to a large-scale trajectory smoothing method for unmanned sweeping vehicles on open roads. Background technique [0002] An unmanned cleaning vehicle is a vehicle that can perceive its surrounding environment without human intervention, identify obstacles and various signs, and independently spray and clean various open roads. It will plan the path in real time according to the environment and task requirements, and follow it automatically. It mainly works on open roads such as non-motorized lanes and some motorized lanes on urban roads. [0003] On open roads, there are two ways to plan paths for unmanned sweeping vehicles: (1) Obtain the centerline of the lane, and connect them sequentially as a guide line; (2) Plan a reasonable path through a planning algorithm. The single mission path of the sweeping car is long, which may be more than ten kilometers or even longer. ...

AI Technical Summary

Problems solved by technology

[0011] Disadvantages: The coefficients of high-order curves are difficult to control; high-order curves are time-consuming and not suitable for high-speed use

[0016] Disadvantages: optimization is time-consuming, and requires high correctness of established constraints

However, it has the disadvantage of time-consuming optimization. Therefore, how to study a trajectory smoothing method that can combine multiple smoothing methods so that it has better advantages and fewer disadvantages is a technical problem that needs to be solved urgently in this industry.

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