Path planning method of unmanned belt obstacle

Abstract

The invention discloses a path planning method of an unmanned belt obstacle. The path planning method comprises the steps of acquiring geographic information of a working site, acquiring a polygonal sequence coordinate point, allowing a polygon to inwards retract by stipulating safety boundary distance, generating a path undetermined point and generating a path by a current working vehicle position as a reference and a point at the nearest distance with a top point of the polygon as a next target point and by allowing the point to be adjacent to a relatively long edge; passing by an obstacle by moving the undetermined point when the obstacle is met, acquiring a relatively optimal path by comparing left translation distance and right translation distance, and generating a next group of pathby moving the path undetermined point until the path can traverse the whole working site. After acquiring coordinates of the site and the obstacle, a travelling path with an obstacle prevention pathcan be automatically generated according to the coordinate of the obstacle when the path is generated, and the operation efficiency and the operation safety unmanned driving are greatly improved. Thepath planning method can be used for path planning of unmanned driving operation of an agriculture machine in an obstacle-containing closed site.

Description

technical field [0001] The invention relates to the field of unmanned driving and intelligent control of agricultural machinery, in particular to a path planning method for unmanned driving and obstacle avoidance. Background technique [0002] Unmanned vehicles can be regarded as a wheeled mobile robot in the traditional artificial intelligence field. Its realization involves multiple disciplines and fields, including computer software, algorithms, data structures, industrial control hardware, object recognition, sensor perception, etc. Sensors with different functions can perceive the surrounding environment of the vehicle, and plan a safe and collision-free path based on the road, vehicle position and obstacle information obtained by perception, and control the speed and steering of the vehicle, so that the vehicle can be safely on the road autonomous driving. [0003] In recent years, the development of artificial intelligence technology has brought opportunities for rev...

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Problems solved by technology

[0005] At present, the work path planning adopted by unmanned vehicles requires manual intervention during operation. For example, when encountering a need to turn, turn around, or avoid obstacles, it is necessary to manually control the vehicle to complete the action, which is manpower-intensive and limited by objective conditions such as time and environment. When performing standardized operations on a large-scale work site, the driver is limited by physiological conditions and cannot complete the work according to the standard for a long time, which limits the operation efficiency

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