[1]蒋如飞,张伟军.激光导航小车入库规划[J].机械与电子,2020,(04):67-70.
　.Laser Navigation Vehicle Narrow Parking SpacePlanning[J].Machinery & Electronics,2020,(04):67-70.
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激光导航小车入库规划()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2020年04期
页码:
67-70
栏目:
自动控制与检测
出版日期:
2020-04-20

文章信息/Info

Title:
Laser Navigation Vehicle Narrow Parking Space Planning
文章编号:
１００１- ２２５７（２０２０）０４- ００６７- ０４
作者:
蒋如飞; 张伟军
上海交通大学机械与动力工程学院，上海 ２００２４０
Author(s):
ＪＩＡＮＧ Ｒｕｆｅｉ; ＺＨＡＮＧ Ｗｅｉｊｕｎ
ＳｃｈｏｏｌｏｆＭｅｃｈａｎｉｃａｌＥｎｇｉｎｅｅｒｉｎｇ，ＳｈａｎｇｈａｉＪｉａｏＴｏｎｇＵｎｉｖｅｒｓｉｔｙ，Ｓｈａｎｇｈａｉ２００２４０，Ｃｈｉｎａ
关键词:
轨迹规划; 激光导航; 动态窗口方法
Keywords:
ｔｒａｊｅｃｔｏｒｙｐｌａｎｎｉｎｇ; ｌａｓｅｒｎａｖｉｇａｔｉｏｎ; ｄｙｎａｍｉｃｗｉｎｄｏｗａｐｐｒｏａｃｈ
分类号:
ＴＰ２４；ＴＰ２７２
文献标志码:
A
摘要:
设计了一种差速转向小车，利用激光雷达和障碍物地图导航。为满足小车动力学、速度等限制和实时避障的要求，导航使用了动态窗口规划算法，在限制范围内不断离散采样候选速度以生成模拟轨迹，之后对轨迹打分选出最佳轨迹并执行。针对导航小车进入狭窄车库的需求改进了规划算法，将算法分为２个阶段，第１阶段走到可自由原地旋转且沿直线可达终点的位置，调整角度后，第２阶段近似走直线即可到达最终目标点。仿真实验证明，原始规划算法无法应对狭窄场景，而改进后导航小车可以正常到达目标位置，实现了自动入库的功能。
Abstract:
A differential steering vehicle was designed, using laser and obstacle map to navigate. In order to meet the requirements of dynamic limit, speed limit and real-time obstacle avoidance of the car, the navigation uses a dynamic window planning algorithm to continuously sample the candidate speeds within the restricted range to generate the trajectory, and then select the best trajectory and execute the trajectory. The planning algorithm was improved for the requirement that the navigation vehicle enters the narrow parking place. The algorithm was divided into two stages. The first stage goes to a position where it can rotate freely and reach the target point along the straight line. After adjusting the angle, the second stage goes straight to the final destination. The experiment proves that the original planning algorithm can not deal with the narrow scene, and the improved navigation car can reach the target position successfully, and realize the function of entering narrow parking place automatically.

参考文献/References:

［１］ 朱琳，范秀敏，何其昌．柔性生产系统配料区多自动导航小车调度优化［Ｊ］．计算机集成制造系统，２０１２，１８（６）：１１６８- １１７５．

［２］ 季宇寒，李寒，张漫，等．基于激光雷达的巡检机器人导航系统研究［Ｊ］．农业机械学报，２０１８，４９（２）：１４- ２１．
［３］ 徐庆，徐志伟，杜晓峰．基于 ＱＲ 码的视觉导航 ＡＧＶ系统［Ｊ］．传感器与微系统，２０１９，３８（２）：８３- ８６．
［４］ 房殿军．面向工业 ４．０ 的智能工厂与智能物流系统建设［Ｊ］．物流技术与应用，２０１５，４（６）：９０- ９４．
［５］ ＦＯＸＤ，ＢＵＲＧＡＲＤ Ｗ，ＴＨＲＵＮＳ．Ｔｈｅｄｙｎａｍｉｃｗｉｎｄｏｗａｐｐｒｏａｃｈｔｏｃｏｌｌｉｓｉｏｎａｖｏｉｄａｎｃｅ［Ｊ］．ＩＥＥＥ Ｒｏｂｏｔｉｃｓ ａｎｄＡｕｔｏｍａｔｉｏｎＭａｇａｚｉｎｅ，１９９７，４（１）：２３- ３３．

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备注/Memo

备注/Memo:
收稿日期：２０１９- １１- ０５
作者简介：蒋如飞 （１９９５－），男，湖北襄阳人，硕士硕士生，研究方向为３Ｄ 视觉、路径规划；张伟军 （１９７１－），男，上海人，博士，副教授，研究方向为特种机器人设计、智能机器人。
更新日期/Last Update: 2020-04-20