Motion planning and cooperative positioning method and device for unmanned vehicle network formation

Abstract

The invention provides a motion planning and cooperative positioning method and device for an unmanned vehicle network formation. The method includes the steps that in one planning cycle, according tothe acquired initial pose, target pose and kinematic parameters of each vehicle in the unmanned vehicle network formation, a path plan is generated, wherein the unmanned vehicle network formation includes a piloting vehicle and several following vehicles; the path plan is sent to each following vehicle so that each following vehicle can complete the corresponding target pose according to the pathplan. According to the motion planning and cooperative positioning method and device for the unmanned vehicle network formation, the piloting vehicle and the following vehicles are set by adopting alayered system structure; in the path planning part, various constraint conditions are considered, and a Dubins shortest path planning way is adopted; in the cooperative positioning part, through extended Kalman filtering, information fusion is performed by using UWB ranging, inertial navigation, a gyroscope and other means facilitating collection, the uncertainty of pose estimation is eliminated,and the positioning efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of machine control, in particular to a method and device for motion planning and cooperative positioning of an unmanned vehicle network formation. Background technique [0002] For these new generation of intelligent unmanned vehicles, people put forward higher-level requirements in agriculture, military, medical, service industries, etc., and they are increasingly developing in the direction of clustering and mutual cooperation. The concept of the Internet of Vehicles has gradually become more and more familiar to the public, and has also attracted the attention of more and more experts and enterprises. The Internet of Vehicles has also been widely proven to have a long-term development space, and most of the It is a location-based service, so vehicle positioning is one of the most important core technologies in the future architecture of the Internet of Vehicles. [0003] In the prior art, the positioning...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method and device for motion planning and cooperative positioning of unmanned vehicle network formations, which solves the technical problems of limited positioning capacity and low positioning efficiency encountered in the relative positioning process of clusters in the prior art

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