Unmanned vehicle formation experiment platform based on robot operating system

Abstract

The invention discloses an unmanned vehicle formation experiment platform based on a robot operating system, and the platform comprises a positioning module, a communication module, a formation control module, and an obstacle avoidance module. The positioning module obtains real-time position information of an unmanned vehicle body, the communication module is used for real-time information interaction between the unmanned vehicle bodies and the main control terminal and between the unmanned vehicle bodies, and the formation control module generates advancing switching guidance information of unmanned vehicle body formation according to real-time position information and issues the advancing switching guidance information to the corresponding unmanned vehicle bodies through the communication module; and the obstacle avoidance module is used for resolving and obtaining obstacle avoidance information according to the pre-collected laser point cloud information and the advancing switching guidance information of the unmanned vehicle body formation, and sending the obstacle avoidance information to the unmanned vehicle bodies through the communication module for obstacle avoidance. According to the unmanned vehicle formation experiment platform, the functions of formation control, autonomous obstacle avoidance and the like are realized on the basis of ensuring the positioning capability and the cooperative communication capability, and the formation control requirements of unmanned vehicles can be better met.

Description

technical field [0001] The invention relates to the technical field of cluster system cooperative control, and more specifically relates to an unmanned vehicle formation experimental platform based on a robot operating system. Background technique [0002] At present, the existing collaborative cluster systems or cluster platforms are mainly divided into two types. Taking the coordinated control of unmanned vehicles as an example, one is to design the main control, sensor, positioning, communication and other modules to realize the integration of unmanned vehicle cluster Cooperative communication, but does not consider the collaborative formation, navigation and obstacle avoidance of unmanned vehicles; the other is to design a new method for a single module to optimize the positioning, tracking, communication and other methods based on unmanned vehicle formation, but The overall coordinated control or mission is not considered. It is not difficult to find that the existing ...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the present invention provides an experimental platform for unmanned vehicle formation based on a robot operating system. Technical problems that lead to unsatisfactory control effects of the cluster platform

Images