Intelligent trolley path planning method based on trapezoid obstacles

A smart car and path planning technology, applied in vehicle position/route/height control, motor vehicles, two-dimensional position/channel control, etc., to reduce moving distance and reduce motion loss

Active Publication Date: 2021-09-03
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to avoid the deficiencies of the prior art, the present invention proposes a path planning method for smart cars based on ladder-shaped obstacl

Method used

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  • Intelligent trolley path planning method based on trapezoid obstacles
  • Intelligent trolley path planning method based on trapezoid obstacles
  • Intelligent trolley path planning method based on trapezoid obstacles

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Embodiment Construction

[0040] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0041] The purpose of the present invention is to provide a path planning method for the smart car to cross trapezoidal obstacles, adding obstacle height information and slope information into the constraint conditions of path planning, so that when the smart car encounters obstacles or slopes that can be crossed , it is not necessary to go around to avoid obstacles, but can directly cross the obstacle, reducing the moving distance of the robot, reducing motion loss, and enabling the smart car to run for a longer time under the condition of limited energy.

[0042] The idea of ​​the present invention is to use visual SLAM technology to construct a model of the surrounding environment of the smart car, and express it in the form of a point cloud map; and set a threshold value for the slope of the obstacle according to the climbing ability of the smart car, and then...

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Abstract

The invention relates to an intelligent trolley path planning method based on trapezoid obstacles, and the method comprises the steps: carrying out the point cloud modeling of the surrounding environment of an intelligent trolley through employing a visual SLAM technology; constructing a three-dimensional grid map by using the point cloud map information, identifying map obstacles, identifying ladder-shaped obstacles, and recording the starting point and the gradient of the ladder-shaped obstacles; calling an improved RRT algorithm, judging nodes firstly when the nodes are expanded, and if new nodes are located in a trapezoid obstacle area, setting the new nodes according to the gradient and the starting point position of a trapezoid obstacle to serve as path points; and if the new nodes are not located in the trapezoidal obstacle, performing collision-free detection on the new nodes. if the new nodes are safe, adding the new nodes into a path extension tree; and sending the path planned by the improved RRT algorithm to an execution mechanism of the intelligent trolley, so that the intelligent trolley safely arrives at a target point.

Description

technical field [0001] The invention belongs to the field of obstacle avoidance for autonomous mobile cars, and relates to a path planning method for smart cars based on ladder-shaped obstacles, in particular to a path planning method for smart cars aimed at ladder-shaped obstacles Background technique [0002] In recent years, with the rapid development of unmanned system technology, smart cars with autonomous mobility have entered people's field of vision. Without external intervention, the autonomous mobility of the smart car in an unknown environment becomes an important indicator for testing the autonomy of the smart car. The key technology for the smart car to move autonomously in an unknown environment without human intervention is the path planning technology. The path planning technology is based on the location of the smart car and its surrounding environment. The execution path of the smart car makes it avoid obstacles when reaching the target point. At present,...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0246G05D1/0274G05D2201/0207Y02T10/40
Inventor 闫斌斌庞明慧江奕蕾刘春江余佳洁张通
Owner NORTHWESTERN POLYTECHNICAL UNIV
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