Uncertainty-prediction-based track planning method

Abstract

The invention belongs to the field of track planning, and relates to a method for planning a track by predicting track uncertainty when a moving body is greatly influenced by movement uncertainty in a complicated environment. A dynamic model of the moving body, a process noise model and an observation noise model are utilized, the deviation of a real track is divided into the sum of the deviation of the real track from an estimated track and the deviation of the estimated track from a planned track, the uncertainty of the real track is predicted in a probability form, and on such a basis, a feasible track is planned by combining a rapidly-exploring random tree method. According to the method, the dynamic constraints of a high-speed moving body and the influence of process noise and observation noise are simultaneously taken into account, and the uncertainty of the planned track is predicted in advance by movement model and error model-based prediction, so that the probability of collision between the moving body and an obstacle at any moment is ensured to be lower than (1-delta1), and the probability of reaching a target region is ensured to be higher than delta2; therefore, the feasibility of the planned track is ensured in terms of probability.

Description

technical field [0001] The invention belongs to the field of track planning and relates to a method for planning track by predicting track uncertainty when a moving body is greatly affected by motion uncertainty in a complex environment. Background technique [0002] The purpose of trajectory planning is to find a feasible trajectory from a given starting point to a target area in space. Existing trajectory planning methods mainly include sketch map method, cell decomposition method, artificial potential field method and search-based trajectory planning method. Due to the influence of process noise and observation noise during the actual movement of the body, it is impossible to predict the deviation of the moving body when it moves rapidly along the planned track, and it cannot guarantee that the moving body will not collide with obstacles. Contents of the invention [0003] The purpose of the present invention is to: aim at the above-mentioned problems, to provide a tra...

AI Technical Summary

Problems solved by technology

Existing trajectory planning methods mainly include sketch map method, cell decomposition method, artificial potential field method and search-based trajectory planning method. Due to the influence of process noise and observation noise during the actual movement of the body, it is impossible to predict the deviation of the moving body when it moves rapidly along the planned track, and it cannot guarantee that the moving body will not collide with obstacles.

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