一种基于单线激光雷达的无人车辆导航避障系统设计  

Design of an Obstacle Avoidance System for Navigation of Unmanned Vehicles with Single-line Laser Radar

作　　者：吴越[1] 蓝伟[1] 许大浦[1] 苏波[1] 

机构地区：[1]北方车辆研究所,北京100072

出　　处：《计算机测量与控制》2013年第7期1902-1904,1907,共4页Computer Measurement &Control

摘　　要：为了实现智能无人车辆进行野外自主行驶的目的,进行了对单线激光雷达和GPS定位装置的型号选定,对扇形-曲率算法提出了适应性改进,完成了传感器的性能测试及包含导航避障功能的软件系统,证明了该软件设计适应无人车辆自主行驶需要,并对导航避障系统的发展趋势进行了展望。In order to realize the purpose of intelligent unmanned vehicle field independent driving , we were selected the single--line laser radar and GPS positioning device type, adaptive improvement to the fan--shaped curvature algorithm is proposed in this paper, done the performance test of sensor and devised a software system with navigation and obstacle avoidance function, Prove this software design that meet need an unmanned vehicle autonomous driving, and discussed the development trend of obstacle avoidance and navigation system in the future.

关 键 词：无人车辆 激光雷达 GPS 导航系统 避障系统 

分 类 号：TP302[自动化与计算机技术—计算机系统结构]