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Unmanned rolling dynamic path autonomous planning method based on SLAM

A dynamic path and path planning technology, applied in the direction of motor vehicles, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of control realization, large difference in planning results, and difficult paths, so as to ensure the effectiveness , easy to track and control, and improve efficiency

Pending Publication Date: 2021-12-28
TIANJIN UNIV
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Problems solved by technology

Due to the kinematic constraints of the unmanned rolling machine, the planned path is difficult to be realized by the control of the horizontal and vertical actuators of the unmanned rolling machine, which makes the actual trajectory and the path planning result quite different.

Method used

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  • Unmanned rolling dynamic path autonomous planning method based on SLAM
  • Unmanned rolling dynamic path autonomous planning method based on SLAM
  • Unmanned rolling dynamic path autonomous planning method based on SLAM

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Embodiment Construction

[0020] Certain terms are used, for example, in the description and claims to refer to particular components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use the difference in name as a way to distinguish components, but use the difference in function of components as a criterion for distinguishing. As mentioned throughout the specification and claims, "comprising" is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0021] In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

[0022] In the invention, unless otherwise clearly specified and l...

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Abstract

The invention discloses an unmanned rolling dynamic path autonomous planning method based on SLAM. The method comprises the steps: obtaining the state information and surrounding environment information of an unmanned rolling machine through a real-time sensing module, and constructing a global reference map through the SLAM; based on the global reference map, adaptively selecting a global path planning algorithm according to different task states of the rolling machine, and determining a coarse path; according to the real-time obstacle position of the environment, considering the track following control capability of an execution mechanism of the unmanned rolling machine, and forming a smooth and feasible local path; and after the position of the unmanned rolling machine is changed, updating the global reference map according to the environment information provided by the real-time sensing module, and using the new global reference map for planning the path again. According to the invention, the dynamic change of the working environment of the unmanned rolling machine is considered, the dynamic path autonomous planning of unmanned rolling in different task states is realized, and the operation safety of the unmanned rolling machine can be ensured.

Description

technical field [0001] The invention belongs to the technical field of automatic construction, and in particular relates to a SLAM-based method for autonomously planning dynamic paths of unmanned rolling. Background technique [0002] The roller compactor is a commonly used construction machine in the construction of water conservancy projects, and it is suitable for the compaction of various filling materials. The traditional way of manually driving the roller compactor is difficult to achieve precise control of key construction process parameters such as driving speed, overlapping distance, and working area. At the same time, it has disadvantages such as poor working environment, labor-intensive, and low mechanical utilization. Therefore, in recent years, unmanned rolling technology has begun to be applied in the field of dam automation construction, which is a current research hotspot. [0003] Unmanned rolling mainly includes environmental perception, path planning, tra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0246G05D1/0257
Inventor 王晓玲王佳俊余佳陈文龙
Owner TIANJIN UNIV
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