Fixed-point and directional parking control method and system for unmanned ground mobile platform

Abstract

The invention discloses a fixed-point and directional parking control method and system for an unmanned ground mobile platform, and the method comprises the following steps: S1, obtaining the original path information of navigation planning, and carrying out the path extension of the original path information, thereby obtaining a virtual path; S2, combining the generated virtual path with the original path to obtain a new path, and returning key control parameters and new path information; S3, enabling the vehicle to run according to the generated new path, and judging and switching back-up working conditions in the running process; and S4, enabling the vehicle to return along the original path according to the virtual path, and parking at a preset final position in a preset course. According to the invention, the position deviation between the actual parking point and the preset target point in the space can be greatly reduced, and the deviation between the heading attitude of the unmanned ground mobile platform during parking and the preset heading attitude can be ensured to be within the allowable error range.

Description

technical field [0001] The invention relates to parking control, in particular to a fixed-point and directional parking control method and system for parking an unmanned ground mobile platform. Background technique [0002] With the acceleration of the era of intelligence, the application scenarios of unmanned ground mobility platforms are becoming more and more extensive. For unmanned logistics delivery vehicles in low-speed scenarios, only the target point of driving needs to be set manually, and the unmanned ground mobile platform can autonomously plan and follow the planned path to reach the target point. However, for general unmanned ground maneuvering platforms, the following problems often exist in the process of arriving near the end of the path and deciding to stop, namely: [0003] 1. The existing parking criteria are all based on determining whether the vehicle position is within a circular area with the end point of the path as the center and a certain error thr...

AI Technical Summary

Problems solved by technology

Therefore, when the unmanned ground maneuvering platform is parked, there is a large deviation in the spatial position from the actual preset path end point.

[0004] 2. In most scenarios, we hope that the unmanned ground maneuvering platform can maintain the predetermined heading attitude when parking, so as to facilitate the development of follow-up related work, but it is difficult to realize this function by using traditional methods

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