30 results about "Environmental modeling" patented technology

The invention relates to a global smooth path planning method for a mobile robot. The method includes the following steps: carrying out environmental modeling according to the working environment of the mobile robot; establishing an objective function to be optimized according to the principle of safe and shortest path; carrying out path planning of the mobile robot based on an adaptive particle swarm algorithm; outputting a motion path of the mobile robot according to an optimization result; and smoothing the motion path of the mobile robot by adopting Bezier curves. According to the method,the adaptive particle swarm algorithm is combined with the Bezier curves, so that the stability and robustness are strong, the search efficiency can be effectively improved, the path length can be shortened, and the intention of manual planning is met; and moreover, the method has few parameters to be adjusted, is simple in model, and is suitable for global smooth path planning of multiple mobilerobots in complex environments.

The invention discloses a dynamic path planning method for an ant colony algorithm in a congestion environment, and the method comprises: the step 1, carrying out the environment modeling, and obtaining an environment factor representing the congestion condition in the congestion environment; and the step 2, after replacing the distance of the road in the ant colony algorithm with the environmental factor, carrying out dynamic path planning by utilizing the dynamic change of the environmental factor. According to the invention, environmental factors for reflecting traffic jam are provided, environmental factors in a congestion environment are obtained by using an environmental modeling method, and the environment factor is used for replacing the distance of the road in the ant colony algorithm to realize the dynamic path planning of the ant colony algorithm in the congestion environment. Therefore, the factor that the dynamic change of the environment congestion condition is not considered in the existing path planning algorithm is made up, the accuracy of the optimal solution of path planning in the congestion environment is improved, and the method better conforms to the actual situation of the current urban traffic congestion.

The embodiment of the invention provides an environmental modeling capability assessment method and system for an autonomous vehicle, and belongs to the field of intelligent transportation. The methodcomprises the following steps: obtaining environment information of a plurality of continuous frames of a vehicle environment detected by a vehicle-mounted sensing system of the automatic driving vehicle; comparing and analyzing the environment information of a plurality of consecutive frames with corresponding real environment information, judging whether one or more of information delay, information missing report and signal false report exist or not, and if yes, counting the time of the information delay and the occurrence frequency of the information missing report and the signal false report; And evaluating the environment modeling capability of the autonomous vehicle according to the information delay time, the occurrence frequency of the information missing report and/or the occurrence frequency of the signal false report. According to the method, the labeling frequency and labeling quantity of information delay, information missing reporting, information false reporting and the like are improved, and more powerful data support is provided for evaluating the environment modeling capability of the autonomous vehicle.