| 激光导航小车入库规划 |
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| 引用本文： | 蒋如飞,张伟军.激光导航小车入库规划[J].机械与电子,2020,38(4):67-70. |
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| 作者姓名： | 蒋如飞 张伟军 |
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| 作者单位： | 上海交通大学机械与动力工程学院，上海 ２００２４０ |
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| 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。
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| 关 键 词： | 轨迹规划 激光导航 动态窗口方法 |
Laser Navigation Vehicle Narrow Parking Space Planning |
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| JIANG Rufei,ZHANG Weijun.Laser Navigation Vehicle Narrow Parking Space Planning[J].Machinery & Electronics,2020,38(4):67-70. |
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| Authors: | JIANG Rufei ZHANG Weijun |
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| Affiliation: | ＳｃｈｏｏｌｏｆＭｅｃｈａｎｉｃａｌＥｎｇｉｎｅｅｒｉｎｇ，ＳｈａｎｇｈａｉＪｉａｏＴｏｎｇＵｎｉｖｅｒｓｉｔｙ，Ｓｈａｎｇｈａｉ２００２４０，Ｃｈｉｎａ |
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| 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 realtime 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. |
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| Keywords: | trajectory planning laser navigation dynamic window approach |
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