Trajectory generation method and device and unmanned ground vehicle

Abstract

An embodiment of the present invention provides trajectory generation method and device and an unmanned ground vehicle. The method includes: acquiring a driving parameter of each trajectory point in an actual driving trajectory in an area to be planned, where the driving parameter includes at least one of the following: a driving position, speed, acceleration and travel time; according to the obtained driving parameters, obtain N track points in the actual driving track, N is an integer greater than or equal to 2; according to the driving parameters of the N track points, generate an unmannedground vehicle The planned travel trajectory in the area to be planned. The planned driving track in this embodiment is generated according to the actual driving parameter of the track point in the actual driving track, so the planned driving track is very close to the actual driving track, and the user only needs to operate the machine to actually travel once, without artificially drawing high. In the accuracy area, it is not necessary to perform trajectory planning artificially. Therefore, the planned traveling trajectory generated by the embodiment has higher accuracy and higher efficiency.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular to a trajectory generation method, device and unmanned ground vehicle. Background technique [0002] At present, unmanned tractors are available on the market, which can plow land, spray pesticides and harvest crops, etc., which has brought great benefits to the agricultural field, such as saving user time, improving operation efficiency, increasing operation income, and improving the utilization efficiency of agricultural machinery Wait. Since the unmanned tractor is unmanned and drives automatically, the driving trajectory must be set in advance, and the unmanned tractor will drive according to the set driving trajectory to achieve precise farming, spraying pesticides and harvesting crops and so on. At present, the way to set the driving trajectory is: draw a high-precision map of the area to be driven, and then artificially plan the tr...

AI Technical Summary

Problems solved by technology

However, obtaining high-precision maps and artificial trajectory planning requires a lot of manpower and material resources, and the efficiency of setting the driving trajectory is low.

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