视觉导航下新型车辆避障路径智能规划方法  

A New Intelligent Planning method for vehicle obstacle avoidance path under Visual Navigation

作　　者：孙环[1] SUN Huan(Shanxi Institute of Technology,Xi’an 710300,China)

机构地区：[1]陕西国防工业职业技术学院,西安710300

出　　处：《自动化与仪器仪表》2020年第10期39-42,共4页Automation & Instrumentation

基　　金：陕西国防工业职业技术学院基金项目:基于物联网的气体灭火设备研究与应用(No.Gfy19-11)。

摘　　要：车辆避障路径受到空间视觉特征限制,出现避障路径重叠的问题,提出视觉导航下新型车辆避障路径智能规划方法。在视觉导航下,构建车辆避障路径的不规则三角网分布模型,检测车辆避障路径的视觉特征,提取车辆避障路径规划空间特征分布参量,采用二乘规划方法进行车辆避障路径过程中的最短路径寻优控制,结合模糊参数融合和空间视觉信息特征提取方法实现车辆避障路径的智能规划设计,建立车辆避障路径的最短路径决策函数,采用极值寻优方法实现车辆避障路径智能规划。仿真结果表明,车辆避障路径规划运行时间降低,车辆避障路径曲线光滑性较好,提高了车辆避障路径规划能力。The vehicle obstacle avoidance path is limited by the spatial visual features,which causes the problem of overlapping obstacle avoidance paths.A new intelligent path planning method for vehicle obstacle avoidance under visual navigation is proposed.Under the visual navigation,the irregular triangle network distribution model of vehicle obstacle avoidance path is constructed,the visual characteristics of vehicle obstacle avoidance path are detected,the spatial characteristic distribution parameters of vehicle obstacle avoidance path planning are extracted,the shortest path optimization control in the process of vehicle obstacle avoidance path is carried out by the method of double planning,and the vehicle obstacle avoidance is realized by the combination of Fuzzy Parameter Fusion and spatial visual information feature extraction The intelligent path planning and design,the shortest path decision function of vehicle obstacle avoidance path is established,and the intelligent path planning of vehicle obstacle avoidance is realized by the method of extremum optimization.The simulation results show that the running time of vehicle obstacle avoidance path planning is reduced and the smooth curve of vehicle obstacle avoidance path curve is better,which improves the vehicle obstacle avoidance path planning ability.

关 键 词：视觉导航 新型 车辆避障 路径 智能规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]