Path recognition method of unmanned vehicle adopting multi-line type laser scanning radar
The invention relates to a path recognition method of unmanned vehicle adopting multi-line type laser scanning radar. The method comprises the following steps that 1, the multi-line type laser scanning radar which can rotate by 360 degrees is arranged on the vehicle roof, and the laser scanning rada...
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| creator | HAN YI FAN XIAONAN LI LINCONG XUE NUONUO FANG HAIYANG |
| description | The invention relates to a path recognition method of unmanned vehicle adopting multi-line type laser scanning radar. The method comprises the following steps that 1, the multi-line type laser scanning radar which can rotate by 360 degrees is arranged on the vehicle roof, and the laser scanning radar emits laser beams to scan the surroundings; 2, the laser scanning radar receives the laser beams; 3, parameters of information returned by each laser beam are obtained; 4, the distance value Dret returned by each laser beam and a rotating angle gamma of the current laser radar are converted into Cartesian coordinates (Px, Py, Pz) in a laser radar coordinate system; 5, an environmental map is built; 6, the environmental map adopts a topological map representation method, path planning is conducted on a path recognition search algorithm, and an optimal path is determined. Accordingly, the multi-line type laser scanning radar is adopted for recognizing the path of the unmanned vehicle, path recognition information i |
| format | Patent |
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The method comprises the following steps that 1, the multi-line type laser scanning radar which can rotate by 360 degrees is arranged on the vehicle roof, and the laser scanning radar emits laser beams to scan the surroundings; 2, the laser scanning radar receives the laser beams; 3, parameters of information returned by each laser beam are obtained; 4, the distance value Dret returned by each laser beam and a rotating angle gamma of the current laser radar are converted into Cartesian coordinates (Px, Py, Pz) in a laser radar coordinate system; 5, an environmental map is built; 6, the environmental map adopts a topological map representation method, path planning is conducted on a path recognition search algorithm, and an optimal path is determined. 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The method comprises the following steps that 1, the multi-line type laser scanning radar which can rotate by 360 degrees is arranged on the vehicle roof, and the laser scanning radar emits laser beams to scan the surroundings; 2, the laser scanning radar receives the laser beams; 3, parameters of information returned by each laser beam are obtained; 4, the distance value Dret returned by each laser beam and a rotating angle gamma of the current laser radar are converted into Cartesian coordinates (Px, Py, Pz) in a laser radar coordinate system; 5, an environmental map is built; 6, the environmental map adopts a topological map representation method, path planning is conducted on a path recognition search algorithm, and an optimal path is determined. 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| language | chi ; eng |
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| subjects | ANALOGOUS ARRANGEMENTS USING OTHER WAVES DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES GYROSCOPIC INSTRUMENTS LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION SURVEYING TESTING |
| title | Path recognition method of unmanned vehicle adopting multi-line type laser scanning radar |
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