无人弹药补给车自主定位与路径规划系统研究

Research on autonomous positioning and path planning system for unmanned ammunition supply vehicle

根据无人弹药补给车性能要求,设计出车辆定位系统并完成硬件组装,采用动态实时差分定位以及GPS-惯性组合定位算法,消除了自主定位中的误差问题,解决了无人弹药补给车的自主定位精度问题。通过引入加权系数,对传统的A*算法进行了优化,解决了网格数过多导致运行时间长的问题。将无人车导航坐标系引入栅格环境地图中,赋予栅格地图实际意义,解决了算法规划出的路径与现实路径对应的问题。搭建了无人弹药补给车自主定位与硬件试验平台,通过Qt Creator开发了无人弹药补给车自主定位与路径规划软件系统。通过试验验证了整套系统的可行性和正确性,提高了无人弹药补给车定位精度以及路径规划性能,满足系统整体性能设计要求。

According to the performance requirements of the unmanned ammunition supply vehicle,the vehicle positioning system is designed and the hardware is assembled.The dynamic real-time differential positioning and GPS-inertial combined positioning algorithm are used to eliminate the error in autonomous positioning and solve the problem of autonomous positioning accuracy of the unmanned ammunition supply vehicle.By introducing weighted coefficient,the traditional A*algorithm is optimized to solve the problem of long running time caused by too many grids.The navigation coordinate system of unmanned vehicle is introduced into the grid environment map,and the grid map is given practical significance,which solves the problem of matching the path planned by the algorithm with the real path.The autonomous positioning and hardware test platform of unmanned ammunition supply vehicle was built,and the autonomous positioning and path planning software system of unmanned ammunition supply vehicle was developed by Qt Creator.The feasibility and correctness of the whole system are verified by experiments,the positioning accuracy and path planning performance of the unmanned ammunition supply vehicle are improved,and the overall performance design requirements of the system are met.