Unmanned vehicle autonomous navigation deviation correction method

Abstract

The invention discloses an unmanned vehicle autonomous navigation deviation correction method, which comprises the following steps of: reading information of a gyroscope arranged at the center of a navigation unmanned vehicle and information of two laser range finders arranged on the left side and the right side of the navigation unmanned vehicle, and respectively correcting a curve, a crossroad, a road surface and the like; and the main control unit judges the road condition information of the normal road and the road condition information of the curve and the crossroad under the normal road, calculates the transverse offset and the course offset and sends the transverse offset and the course offset to the main control unit, and the main control unit rectifies the path planned by the navigation unmanned vehicle in real time according to the judgment information. The road condition information in the automatic navigation process can be effectively judged, and the navigation accuracy and stability of the navigation unmanned vehicle are greatly improved.

Description

technical field [0001] The invention belongs to the technical field of automatic navigation, and in particular relates to a deviation correction method for autonomous navigation of an unmanned vehicle. Background technique [0002] With the continuous advancement of Internet technology, intelligent robot technology has been fully developed. Self-guiding unmanned vehicles are mainly used to replace humans in the fields of industry, logistics, warehousing and other fields to perform repetitive or labor-intensive tasks. For example, loading and unloading, heavy object handling in industrial production, and intelligent warehousing and automatic transfer in the logistics industry are all widely used in automatic navigation unmanned vehicles. Although the application scenarios are different, there are relatively high requirements for the accuracy, speed and continuity of the movement of the automatic navigation unmanned vehicle. [0003] At present, for the autonomous navigation...

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Problems solved by technology

[0003] At present, for the autonomous navigation design of robots, it is mainly to construct maps through human control, and the accuracy of map construction cannot meet the requirements of the industrial level. The deviation correction ability is weak, and the anti-collision effect is poor

[0004] The traditional correction method for automatic navigation unmanned vehicles uses PID control, but this method takes a long time to adjust parameters, has poor anti-interference ability, and cannot determine the length of the adjustment distance during motion correction, which may make it impossible for automatic navigation unmanned vehicles to achieve ideal effect

[0005] Aiming at the problem that the automatic navigation robot has poor navigation adjustment ability and cannot make accurate judgments on road condition information in the prior art, no effective solution has been proposed yet

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