狭窄空间的位姿辅助点TEB无人车导航方法  

TEB unmanned vehicle navigation method for position and attitude auxiliary points in narrow space

作　　者：栾添添 王皓 尤波[1] 孙明晓 Luan Tiantian;Wang Hao;You Bo;Sun Mingxiao(School of Automation,Harbin University of Science and Technology,Harbin 150080,China)

机构地区：[1]哈尔滨理工大学自动化学院,哈尔滨150080

出　　处：《仪器仪表学报》2023年第4期121-128,共8页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金青年项目(62103120,51909049);黑龙江省自然科学基金(LH2021F033,LH2020E094);黑龙江省博士后面上资助项目(LBHZ22195,LBH-Z22197);黑龙江省复合材料高效成型及智能装备技术创新中心开放课题面上项目(HPTIC202204);黑龙江省普通本科高等学校青年创新人才培养计划项目(UNPYSCT-2020190)资助。

摘　　要：针对无人车在狭窄空间环境中采用传统时间弹性带(TEB)算法通过率低下以及速度突变的问题,提出一种位姿辅助点TEB算法(PAP-TEB)。通过在狭窄空间两侧添加位姿辅助点,调用定点规划算法,提高狭窄空间环境的通过率;其次,利用速度插补控制和S形速度规划分别优化自主导航和定点导航的输出速度,保证输出曲线的平滑和导航过程的稳定性;最后,通过无人车操作系统的对比仿真测试,以及两轮差速无人车实验对PAP-TEB算法进行性能验证。结果表明,在55 cm的狭窄通道场景下,PAP-TEB算法的通过率提升约50%;在穿门实验中,PAP-TEB算法相较于传统TEB算法的通过率提升超过20%,并且宽度越小,提升效果越明显,且无人车速度曲线波动较小,能够实现无人车的平稳运动。To address the problems of low pass rate and sudden change in speed of unmanned vehicles using the traditional timed elastic band(TEB)algorithm in a narrow space environment,a pose auxiliary point TEB algorithm(pose auxiliary point TEB,PAP-TEB)is proposed.By adding pose auxiliary points on both sides of the narrow space,the fixed-point planning algorithm is used to improve the passing rate of the narrow space environment.Secondly,the output speed of autonomous navigation and fixed-point navigation is optimized by using speed interpolation control and S-shaped speed planning.The method guarantees the smoothness of the output curve and the stability of the navigation process.Finally,the performance of the PAP-TEB algorithm is evaluated through the comparative simulation test of the unmanned vehicle operating system and the two-wheel differential unmanned vehicle experiments.Results show that the pass rate of the PAP-TEB algorithm is increased by about 50%in the 55 cm narrow channel scene.In the through-the-gate experiment,the PAP-TEB algorithm improves the pass rate by more than 20%compared to the traditional TEB algorithm,and the smaller the width,the more obvious the lifting effect.In addition,the fluctuation of the speed curve of the unmanned vehicle is small,and the smooth motion of the unmanned vehicle can be realized.

关 键 词：狭窄空间环境 位姿辅助点 TEB算法 定点导航 速度优化 

分 类 号：TH86[机械工程—仪器科学与技术]