Unmanned vehicle track recording and tracking method

Abstract

The invention relates to an unmanned vehicle trajectory recording and tracking method. The method comprises steps of manually controlling an unmanned vehicle to walk, recording a path trajectory, andrecording coordinate information and speed information of each trajectory point by using the positioning information provided by a differential GPS or a multi-line laser radar; searching a first target point and a next target point which are closest to each other; for a three-point fitting circle, solving an arc tangent function of a tangent line of a first target point on the circle as a radian value of the first target point, calculating a difference value between the radian of the first target point and the current radian of the unmanned vehicle to calculate a vehicle angle. The method is advantaged in that the speed information is loaded to control the vehicle to walk, angle-making walking is updated in real time, the vehicle tracks the track step by step along the track points, the patrol function is achieved, the method has the advantage of being accurate in tracking, the starting point can be located at any point on the track line or outside the track line, and applicability ishigh, and a technical scheme is suitable for outdoor patrol, can be carried back and forth for a long time, and is high in robustness.

Description

technical field [0001] The invention relates to the field of path navigation of unmanned vehicles, in particular to a method for recording and tracking the trajectory of an unmanned vehicle. Background technique [0002] With the development of self-driving vehicle technology, there are various navigation methods for unmanned driving, such as laser navigation, visual navigation, GPS navigation, IMU and so on. There are also many path planning algorithms, such as global path planning, local path planning, and so on. Among the existing sensors, differential GPS and multi-line lidar can use this method for trajectory recording and trajectory tracking. Differential GPS aligns the longitude, latitude and angle information of the vehicle through 4 or more satellites, but GPS requires to operate in a relatively open place, and it cannot receive signals when there are dark clouds, under the woods, in tunnels, etc. . The multi-line lidar requires to operate in places with obvious ...

AI Technical Summary

Problems solved by technology

Differential GPS aligns the longitude, latitude and angle information of the vehicle through 4 or more satellites, but GPS requires to operate in a relatively open place, and it cannot receive signals when there are dark clouds, under the woods, in tunnels, etc.

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