GIS在无人车自主导航中的应用分析  

Application Analysis of GIS on UGV Autonomous Navigation

作　　者：王美玲[1] 骆健恒 杨毅[1] 刘彤[1] 李亚峰[1] WANG Mei-ling;LUO Jian-heng;YANG Yi;LIU Tong;LI Ya-feng(School of Automation,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学自动化学院

出　　处：《北京理工大学学报》2019年第9期907-911,共5页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金资助项目(61105092,61473042);国家教育部长江学者特聘教授资助项目(T2014224);2016年教育部“创新团队发展计划”项目(IRT_16R06)

摘　　要：根据复杂城市环境中无人车自主导航的应用需求,提出了基于具有强大信息存储与管理能力的地理信息系统(GIS)辅助无人车的定位导航方法,其中包括GIS数据库构建、地图匹配和路径规划等,实现了环境、交通等先验信息和实时信息的获取.基于本文设计的方法,IN 2 BOT无人车多次成功参加国家自然科学基金委主办的中国智能车未来挑战赛、陆军装备部的跨越险阻无人系统挑战赛,取得优异成绩.To meet the requirements of unmanned ground vehicle(UGV)autonomous navigation in complex urban environments,a positioning navigation method was proposed based on geographic information system(GIS)with strong information storage and management capabilities.It includes GIS database construction,map matching and path planning,as well as capture prior and real-time information of the traffic and surrounding environment.The developed method has been successfully used in the IN2BOT UGV that fulfilled the Chinese Intelligent Vehicle Future Challenge sponsored by the National Natural Science Foundation,and the Unmanned Ground System Challenge held by the Army Equipment Department for several times.Outstanding results achieved in many similar national competitions demonstrate the superior performance of the proposed method.

关 键 词：地理信息系统 无人车 数据库 地图匹配 路径规划 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] P208[自动化与计算机技术—控制科学与工程]