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一种基于融合SLAM和改进纯追踪算法的纯电动无人驾驶履带式工程机械行走方法

A Pure Electric Driverless Crawler Construction Machinery Walking Method Based on the Fusion SLAM and Improved Pure Pursuit Algorithms.

作者信息

Wu Jiangdong, Ren Haoling, Lin Tianliang, Yao Yu, Fang Zhen, Liu Chang

机构信息

College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, China.

Fujian Key Laboratory of Green Intelligent Drive and Transmission for Mobile Machinery, Xiamen 361021, China.

出版信息

Sensors (Basel). 2023 Sep 10;23(18):7784. doi: 10.3390/s23187784.

DOI:10.3390/s23187784
PMID:37765841
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10537430/
Abstract

Driverless technology refers to the technology that vehicles use to drive independently with the help of driverless system under the condition of unmanned intervention. The working environment of construction machinery is bad, and the working conditions are complex. The use of driverless technology can greatly reduce the risk of driver operation, reduce labor costs and improve economic benefits.Aiming at the problem of the GPS positioning signal in the working environment of construction machinery being weak and not able to achieve accurate positioning, this paper uses the fusion SLAM algorithm based on improved NDT to realize the real-time positioning of the whole vehicle through reconstruction of the scene. Considering that the motion characteristics of crawler construction machinery are different from those of ordinary passenger cars, this paper improves the existing pure pursuit algorithm. Simulations and real vehicle tests show that the algorithm combined with the fusion SLAM algorithm can realize the motion control of driverless crawler construction machinery well, complete the tracking of the set trajectory perfectly and have high robustness. Considering that there is no mature walking method of driverless crawler construction machinery for reference, the research of this paper will lay a foundation for the development of driverless crawler construction machinery.

摘要

无人驾驶技术是指车辆在无人干预的情况下借助无人驾驶系统自主行驶的技术。工程机械的工作环境恶劣，工况复杂。采用无人驾驶技术可大幅降低驾驶员操作风险，降低人工成本，提高经济效益。针对工程机械工作环境中GPS定位信号弱、无法实现精准定位的问题，本文采用基于改进NDT的融合SLAM算法，通过场景重建实现整车实时定位。考虑到履带式工程机械的运动特性与普通乘用车不同，本文对现有的纯追踪算法进行了改进。仿真和实车测试表明，该算法与融合SLAM算法相结合能够很好地实现无人驾驶履带式工程机械的运动控制，完美完成对设定轨迹的跟踪，且具有较高的鲁棒性。鉴于无人驾驶履带式工程机械尚无成熟的行走方法可供参考，本文的研究将为无人驾驶履带式工程机械的发展奠定基础。

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