无人车自主导航的环境建图技术

Map Building of Autonomous Navigation for UGV

对无人车辆自主导航中环境建图问题进行研究。为了解决环境表示、环境计算、车辆属性匹配等问题,围绕环境建图技术,对国内外研究进展情况进行研究,并着重研究讨论行驶空间构建时环境建图技术中的地图表示方法。通过研究,提出了环境建图中基于粗集理论的数据融合算法及粗集理论在环境建图中的应用方法。最后提出环境建图中存在的主要问题以及研究方向,并对环境建图技术的未来做出展望。

The environment map building problems in autonomous navigation of unmanned vehicles are researched. In order to solve the problems in environment representation,environment computing and vehicle attributes matching,the research advance in the environment map building technology at home and broad is reviewed,with emphasis on the map representation method of the map building technology for constructing the driving space,such as grid map,geometric feature map,topological map,semantic map and dynamic environment map. A data fusion algorithm based on the rough set theory and the application method of the theory in environment map building are proposed. The main problems and the research direction of the environment map building are presented.