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Tracking and obstacle avoidance patrol car path planning algorithm based on multiple sensors

A multi-sensor, path planning technology, applied in the field of patrol car tracking, can solve the problems of mobile robot error, inability to determine external interference, difficult to determine the mathematical model of mobile robot, etc., to achieve the effect of enhancing stability

Pending Publication Date: 2022-02-01
盐城中科高通量计算研究院有限公司
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  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

However, due to the difficulty of determining the precise mathematical model of the mobile robot and the undetermined external interference, the mobile robot will have errors in the actual trajectory tracking.

Method used

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  • Tracking and obstacle avoidance patrol car path planning algorithm based on multiple sensors
  • Tracking and obstacle avoidance patrol car path planning algorithm based on multiple sensors
  • Tracking and obstacle avoidance patrol car path planning algorithm based on multiple sensors

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Embodiment Construction

[0038] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0039] The present invention proposes a patrol car path planning algorithm based on multi-sensor tracking and obstacle avoidance. Salt and pepper noise is added to simulate the harsh environment when driving, and the obstacle avoidance function of the patrol car is realized according to the millimeter wave radar data. figure 1 It is a flowchart of the present invention. The steps of the present invention will be described in detail below in conjunction with the flowchart.

[0040] Step 1, use multi-sensors to collect patrol car operation data: collect road driving images through high-definition fisheye cameras, and accurately obtain physical environment information around the car through millimeter-wave radar, including the relative distance and relative speed between the patrol car and other objects , angle, direction of motion, etc.;

[004...

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Abstract

The invention discloses a patrol car path planning algorithm based on tracking and obstacle avoidance of multiple sensors. The method comprises the following steps: 1, acquiring patrol car operation data by using the multiple sensors; 2, simulating environmental noise during driving of the patrol car; 3, designing a patrol car tracking detection system; 4, designing a patrol car obstacle avoidance auxiliary system; 5, performing joint debugging on the patrol car tracking detection system and the patrol car obstacle avoidance auxiliary system; and 6, starting patrol car exception handling interruption. According to the invention, the severe environment during driving is simulated, the patrol car tracking function is realized under the interference of the noise environment, the patrol car tracking stability, reliability and robustness are enhanced, and in addition, the obstacle avoidance function of the patrol car is realized according to millimeter wave radar data.

Description

technical field [0001] The invention relates to the field of patrol car tracking, in particular to a patrol car path planning algorithm based on multi-sensor tracking and obstacle avoidance. Background technique [0002] With the informatization of life and the emergence of a wave of intelligent production and manufacturing, with the rapid development of basic science and information technology, humanoid robots have appeared in the fields of service industry, traditional industry manufacturing and agriculture for production. In industrial production, it can replace workers to complete boring repetitive operations, which greatly liberates manpower in agricultural industrialization. In service work, robots are widely used in sanitation and cleaning, medical surgery, heavy object handling, etc., and complete tasks such as autonomous escort and monitoring at home. It provides more convenient, efficient and safe services for our daily life, corresponding to the traditional relyi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0276
Inventor 李明民陈传飞薛巨峰范东睿
Owner 盐城中科高通量计算研究院有限公司
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