CN108303089A - Based on three-dimensional laser around barrier method - Google Patents
Based on three-dimensional laser around barrier method Download PDFInfo
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- CN108303089A CN108303089A CN201711295148.2A CN201711295148A CN108303089A CN 108303089 A CN108303089 A CN 108303089A CN 201711295148 A CN201711295148 A CN 201711295148A CN 108303089 A CN108303089 A CN 108303089A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The present invention provides based on three-dimensional laser around barrier method, belong to path planning field, including：Determine the plane coordinate value of the barrier on road surface；Expansion process is carried out to the barrier in plane coordinate value；The intermittent scanning of preset quantity number is carried out to barrier based on three-dimensional laser, the probability occurred to barrier is modified, is planned the travel path of mobile platform based on correction result, be smoothed to the path after planning；Enabling mobile platform, path is advanced by treated, is realized and is operated around barrier.The marginal position of barrier is determined by way of expansion process, it is determined to get around the shortest path of barrier, it is smoothed on the basis of the shortest path got, obtain on the basis of getting around barrier while improving the speed of service of mobile platform, to realize accurately around barrier travel path, reduce in the prior art other around barrier scheme, there are curves, effectively reduce the presence of check frequency.
Description
Technical field
The invention belongs to path planning fields, more particularly to based on three-dimensional laser around barrier method.
Background technology
Based on mobile platform around barrier method, have two-dimensional laser plane around barrier, ultrasonic wave around barrier, infrared photoelectric sensor around
The schemes such as barrier；Since the characteristic of sensor itself is determined, comprehensive detection can not be done to entire barrier, there are larger blind
Area.
Invention content
In order to solve shortcoming and defect existing in the prior art, barrier is sat the present invention provides expansion algorithm is used
Scale value is handled, final to realize accurately around barrier based on three-dimensional laser to obtain the marginal position of accurate barrier
Around barrier method.
In order to reach above-mentioned technical purpose, the present invention provides, around barrier method, moved for being mounted on based on three-dimensional laser
The three-dimensional laser that laser emitter on moving platform is sent out handled around barrier, described around barrier method, including：
Build three-dimensional system of coordinate by coordinate origin of mobile platform, by three-dimensional laser to the traveling road surface of mobile platform into
Row scanning, determines the plane coordinate value of the barrier on road surface；
It determines proportionate relationship of the mobile platform relative to road surface, determines proportionality coefficient, according to proportionality coefficient to being in plane
Barrier on coordinate value carries out expansion process, the coordinate value that obtains that treated；
The intermittent scanning for carrying out preset quantity number to barrier based on three-dimensional laser, according to intermittent scanning result to obstacle
The probability that object occurs is modified, and the appearance situation of barrier is judged based on correction result；
There is situation according to barrier, the travel path of mobile platform is planned in conjunction with A* algorithms, gets planning
Path afterwards handles the path after planning；
Enabling mobile platform, path is advanced by treated, is realized and is operated around barrier.
Optionally, described that situation is occurred according to barrier, the travel path of mobile platform is planned in conjunction with A* algorithms,
The path after planning is got, the path after planning is smoothed, including：
The path after planning is smoothed based on least square method, obtains the path after smoothing processing；
Real-time processing based on dynamic window is carried out to the path after smoothing processing, the path that obtains that treated.
Optionally, the path to after smoothing processing carries out the processing of the real-time adjustment based on dynamic window, is handled
Path afterwards, including：
The motion model for obtaining current mobile platform, the traveling parameter of mobile platform is obtained based on motion model in real time；
It carries out being based on normalized real-time processing based on the azimuth in traveling parameter, traveling gap, gait of march.
Optionally, described that the traveling road surface of mobile platform is scanned by three-dimensional laser, determine the obstacle on road surface
The plane coordinate value of object, including：
After being scanned discovery barrier by three-dimensional laser road pavement, according to laser emitter relative to normal place
Relative angle and three-dimensional laser two-way time it is poor, determine barrier relative to the space angle of mobile platform and opposite
Distance；
In conjunction with mobile platform coordinate origin residing in three-dimensional system of coordinate, the D coordinates value of barrier is determined, delete
Height coordinate value in D coordinates value obtains the plane coordinate value of barrier.
Optionally, proportionate relationship of the determining mobile platform relative to road surface, determines proportionality coefficient, according to proportionality coefficient
Expansion process is carried out to the barrier in plane coordinate value, the coordinate value that obtains that treated, including：
The actual size for obtaining mobile platform determines ratio of the mobile platform relative to road surface according to the actual size on road surface
Example coefficient；
Expansion process, barrier size marginal position after being expanded are carried out to the coordinate of barrier according to proportionality coefficient
Coordinate value.
Optionally, the intermittent scanning for being carried out preset quantity number to barrier based on three-dimensional laser, is swept according to the period
It retouches the probability that barrier occurs in result to be modified, the appearance situation of barrier is judged based on correction result, including：
After being expanded after the coordinate value of size marginal position, the period that three-dimensional laser carries out preset quantity number is enabled to sweep
It retouches；
After each scan, the probability for whether occurring barrier occur according to barrier in scanning process in conjunction with formula one
It is modified,
Wherein, ω0For the probability initial value that barrier occurs, value 1, k is to correct weight, ωiFor revised obstacle
The value of object probability of occurrence, i is positive integer；
After the completion of intermittent scanning, if ωiValue be more than 1, then judge barrier mobile platform travel path
Upper appearance；It is opposite then judge that barrier is not on the travel path of mobile platform.
Optionally, described that situation is occurred according to barrier, the travel path of mobile platform is planned, including：
Rasterizing is carried out to road surface residing for mobile platform to handle to obtain grating map, by A* algorithms to residing for mobile platform
Road surface carries out global search, determines the relative distance that mobile platform and surrounding objects are obtained in grating map；
The shortest distance is chosen from relative distance, shortest path is determined according to the corresponding direction of the shortest distance, is enabled mobile flat
Platform is advanced along shortest path, is realized and is operated around barrier.
The advantageous effect that technical solution provided by the invention is brought is：
The marginal position that barrier is determined by way of expansion process is determined to get around barrier in conjunction with A* algorithms
Shortest path, to realize accurately around barrier travel path, reduce in the prior art other around barrier scheme, there are curves, effectively subtract
The presence of small check frequency.
Description of the drawings
It, below will be to attached drawing needed in embodiment description in order to illustrate more clearly of technical scheme of the present invention
It is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, general for this field
For logical technical staff, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 is the flow diagram around barrier method provided by the invention based on three-dimensional laser；
Fig. 2 is the schematic diagram of determining shortest path provided by the invention.
Specific implementation mode
To keep structure of the invention and advantage clearer, the structure of the present invention is made further below in conjunction with attached drawing
Description.
Embodiment one
The present invention provides the laser emitter hairs for, around barrier method, being used to install based on three-dimensional laser on a mobile platform
The three-dimensional laser gone out is carried out around barrier processing, as shown in Figure 1, it is described around barrier method, including：
11, three-dimensional system of coordinate is built by coordinate origin of mobile platform, by three-dimensional laser to the traveling road of mobile platform
Face is scanned, and determines the plane coordinate value of the barrier on road surface；
12, it determines proportionate relationship of the mobile platform relative to road surface, determines proportionality coefficient, according to proportionality coefficient to being in flat
Barrier in areal coordinate value carries out expansion process, the coordinate value that obtains that treated；
13, the intermittent scanning for carrying out preset quantity number to barrier based on three-dimensional laser, according to intermittent scanning result pair
The probability that barrier occurs is modified, and the appearance situation of barrier is judged based on correction result；
14, situation is occurred according to barrier, the travel path of mobile platform is planned in conjunction with A* algorithms, gets rule
Path after drawing, handles the path after planning；
15, enabling mobile platform, path is advanced by treated, is realized and is operated around barrier.
In force, in order to realize based on three-dimensional laser around barrier processing, coordinate system is initially set up, determines that barrier is being sat
Accurate coordinate value in mark system, then according to the proportionality coefficient of the actual size and road surface actual size of mobile platform, so as to root
Expansion process is carried out to barrier according to proportionality coefficient, determines the actual size of barrier；Be again based on three-dimensional laser road pavement into
Whether row Multiple-Scan there is barrier to carry out accurate judgement again, based on judging result in a manner of combining shortest path
It is determined to the travel path around barrier.
The marginal position that barrier is determined by way of expansion process is determined to get around the shortest path of barrier,
It is smoothed on the basis of the shortest path got, obtains on the basis of getting around barrier while improving mobile platform
The speed of service, to realize accurately around barrier travel path, reduce in the prior art other around barrier scheme, there are curves, effectively
Reduce the presence of check frequency.
Optionally, described that the traveling road surface of mobile platform is scanned by three-dimensional laser, determine the obstacle on road surface
The plane coordinate value of object, including：
After being scanned discovery barrier by three-dimensional laser road pavement, according to laser emitter relative to normal place
Relative angle and three-dimensional laser two-way time it is poor, determine barrier relative to the space angle of mobile platform and opposite
Distance；
In conjunction with mobile platform coordinate origin residing in three-dimensional system of coordinate, the D coordinates value of barrier is determined, delete
Height coordinate value in D coordinates value obtains the plane coordinate value of barrier.
In force, the laser emitter installed on a mobile platform can determine barrier by way of emitting three-dimensional laser
Hinder angle and distance of the object relative to mobile platform, and then in the three-dimensional system of coordinate built as coordinate origin using mobile platform really
Determine the D coordinates value of barrier, the two-dimensional coordinate value of barrier is then determined in a manner of deleting height coordinate value.
Optionally, proportionate relationship of the determining mobile platform relative to road surface, determines proportionality coefficient, according to proportionality coefficient
Expansion process is carried out to the barrier in plane coordinate value, the coordinate value that obtains that treated, including：
21, the actual size for obtaining mobile platform determines mobile platform relative to road surface according to the actual size on road surface
Proportionality coefficient；
22, expansion process, barrier size margin location after being expanded are carried out to the coordinate of barrier according to proportionality coefficient
The coordinate value set.
In force, in order to accurately determine the actual size of barrier, the actual size according to mobile platform and road are needed
The proportionality coefficient of the actual size in face carries out expansion process to the coordinate value of barrier,
Expansion formula p2` (x`, y`)=p2 (x+L, y+W).
In above-mentioned expansion formula, p2 (x, y) is the plane coordinate value of the barrier determined in step 1, and (L, W) is root
It is determined in the proportionality coefficient on two change in coordinate axis direction of coordinate system according to the actual size of mobile platform and the actual size on road surface,
P2` (x`, y`) is the specific coordinate value of the barrier after expansion process.
Optionally, the intermittent scanning for being carried out preset quantity number to barrier based on three-dimensional laser, is swept according to the period
It retouches the probability that barrier occurs in result to be modified, the appearance situation of barrier is judged based on correction result, including：
After being expanded after the coordinate value of size marginal position, the period that three-dimensional laser carries out preset quantity number is enabled to sweep
It retouches；
After each scan, the probability for whether occurring barrier occur according to barrier in scanning process in conjunction with formula one
It is modified,
Wherein, ω 0 is the probability initial value that barrier occurs, and value 1, k is to correct weight, ωiFor revised barrier
Hinder object probability of occurrence, the value of i is positive integer；
After the completion of intermittent scanning, if ωiValue be more than 1, then judge barrier mobile platform travel path
Upper appearance；It is opposite then judge that barrier is not on the travel path of mobile platform.
In force, three-dimensional laser radar device detects the barrier in environment with each cycle, period 1 detection
The barrier arrived then reduces the particle weights (disappearing when reaching 0) of the barrier after second round disappears；If
The barrier occurs again in subsequent cycle, then aggravates the particle weights ω of the barrieri(initial value and maximum value be 1).
Optionally, described that situation is occurred according to barrier, the travel path of mobile platform is planned, including：
Rasterizing is carried out to road surface residing for mobile platform to handle to obtain grating map, by A* algorithms to residing for mobile platform
Road surface carries out global search, determines the relative distance that mobile platform and surrounding objects are obtained in grating map；
The shortest distance is chosen from relative distance, shortest path is determined according to the corresponding direction of the shortest distance, is enabled mobile flat
Platform is advanced along shortest path, is realized and is operated around barrier.
In force, A* algorithms are point and the target point being currently located by global search mobile platform in grating map
Between the shortest distance, to obtain shortest path, the schematic diagram for obtaining shortest path is as shown in Figure 2.It is wrapped in each grid
Relative distance value corresponding with different directions has been included, and has indicated the arrow of the corresponding direction of travel of the shortest distance.Initial
It is equipped with mobile platform in grid, the five-pointed star for representing destination is equipped in final grid, and represent the shade square of barrier
Shape block.
Optionally, described that situation is occurred according to barrier, the travel path of mobile platform is planned in conjunction with A* algorithms,
The path after planning is got, the path after planning is smoothed, including：
The path after planning is smoothed based on least square method, obtains the path after smoothing processing；
Real-time processing based on dynamic window is carried out to the path after smoothing processing, the path that obtains that treated.
In force, it substantially has been able to complete path planning by A* algorithms, but the path after planning is horizontal flat
Vertical path is bound to carry out accurate course changing control, while to carry out past if mobile platform is advanced by such path
Multiple acceleration, deceleration-operation.The traveling mode has seriously affected the traveling efficiency of mobile platform, therefore also needs to after planning
Path is smoothed so that path more meets the traveling mode of mobile platform.
Specifically, the smoothing processing can be realized using least square method.
Optionally, the path to after smoothing processing carries out the processing of the real-time adjustment based on dynamic window, is handled
Path afterwards, including：
The motion model for obtaining current mobile platform, the traveling parameter of mobile platform is obtained based on motion model in real time；
It carries out being based on normalized real-time processing based on the azimuth in traveling parameter, traveling gap, gait of march.
In force, dynamic window method is that multigroup velocity amplitude is taken in the velocity space, and simulation is certain at those speeds
Travel track in time, and then the corresponding speed driving movement of optimal trajectory is chosen by way of evaluation from multigroup track
Platform is moved.
Specifically, the step of obtaining processing rear path includes following two step：
First, the motion model of current mobile platform is obtained.If mobile platform is Omni-mobile, two phases are obtained
The displacement distance of mobile platform under the adjacent moment can be by the distance between two adjacent moments since sweep spacing is very short
It is equivalent to straight line, and so on, the displacement in the entire period can be obtained by way of the cumulative summation of every segment distance.
Secondly, to mobile platform traveling process include azimuth, traveling gap, gait of march traveling parameter adopt
Sample, in sampling process, it is contemplated that by motor performance influenced and moving process in barrier influence, structure evaluation letter
Number.
When including representative simulation trailing end in evaluation function towards with the differential seat angle between target away from azimuth, generation
The traveling of the traveling gap of distance and current travel track medium velocity size is fast between nearest barrier on table current track
Spend three a reference values.
In addition, it is to ensure the flatness of track in mobile platform traveling process why to be normalized.It moves
Moving platform is not continuous in the minimum obstacle distance detected in the process of advancing in two-dimensional space, such as in same position
The distance between the barrier that gets of adjacent position may have a long way to go, therefore can be as possible by normalized
Ensure that mobile platform can be travelled with faster speed during the motion in processing procedure, avoid zig zag, emergency deceleration
Equal operations extend running time.
The present invention provides the laser emitter hairs for, around barrier method, being used to install based on three-dimensional laser on a mobile platform
The three-dimensional laser gone out is carried out around barrier processing, including：Three-dimensional system of coordinate is built by coordinate origin of mobile platform, passes through three-dimensional laser
The traveling road surface of mobile platform is scanned, determines the plane coordinate value of the barrier on road surface；Determine that mobile platform is opposite
Proportionate relationship in road surface, determines proportionality coefficient, is expanded to the barrier in plane coordinate value according to proportionality coefficient
Processing, the coordinate value that obtains that treated；The intermittent scanning for carrying out preset quantity number to barrier based on three-dimensional laser, according to week
The probability that barrier occurs in phase scanning result is modified, and the appearance situation of barrier is judged based on correction result；According to barrier
Hinder object situation occur, the travel path of mobile platform planned, get planning after path, to the path after planning into
Row smoothing processing；Enabling mobile platform, path is advanced by treated, is realized and is operated around barrier.Barrier is determined by way of expansion process
The marginal position for hindering object is determined to get around the shortest path of barrier, be put down on the basis of the shortest path got
Sliding processing, obtains on the basis of getting around barrier while improving the speed of service of mobile platform, accurately goes around barrier to realize
Inbound path, reduce in the prior art other around barrier scheme, there are curves, effectively reduce the presence of check frequency.
Each serial number in above-described embodiment is for illustration only, the assembling for not representing each component or the elder generation during use
Sequence afterwards.
Example the above is only the implementation of the present invention is not intended to limit the invention, all in the spirit and principles in the present invention
Within, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (7)
1. based on three-dimensional laser around barrier method, the three-dimensional laser that the laser emitter for installing on a mobile platform is sent out into
Row is around barrier processing, which is characterized in that and it is described around barrier method, including：
Three-dimensional system of coordinate is built by coordinate origin of mobile platform, determines that the plane of the barrier on road surface is sat by three-dimensional laser
Scale value；
It determines proportionate relationship of the mobile platform relative to road surface, determines proportionality coefficient, according to proportionality coefficient to being in plane coordinates
Barrier in value carries out expansion process, the coordinate value that obtains that treated；
The intermittent scanning for being carried out preset quantity number to barrier based on three-dimensional laser, goes out barrier according to intermittent scanning result
Existing probability is modified, and situation occurs based on correction result judgement barrier；
There is situation according to barrier, the travel path of mobile platform is planned, get the path after planning, to planning
Path afterwards is smoothed；
Enabling mobile platform, path is advanced by treated, is realized and is operated around barrier.
2. it is according to claim 1 based on three-dimensional laser around barrier method, which is characterized in that it is described to be occurred according to barrier
Situation plans the travel path of mobile platform, gets the path after planning, is smoothly located to the path after planning
Reason, including：
The path after planning is smoothed based on least square method, obtains the path after smoothing processing；
Real-time processing based on dynamic window is carried out to the path after smoothing processing, the path that obtains that treated.
3. it is according to claim 2 based on three-dimensional laser around barrier method, which is characterized in that it is described to smoothing processing after
Path carries out the processing of the real-time adjustment based on dynamic window, the path that obtains that treated, including：
The motion model for obtaining current mobile platform, the traveling parameter of mobile platform is obtained based on motion model in real time；
It carries out being based on normalized real-time processing based on the azimuth in traveling parameter, traveling gap, gait of march.
4. it is according to claim 1 based on three-dimensional laser around barrier method, which is characterized in that it is described to pass through three-dimensional laser pair
The traveling road surface of mobile platform is scanned, and determines the plane coordinate value of the barrier on road surface, including：
After being scanned discovery barrier by three-dimensional laser road pavement, the phase according to laser emitter relative to normal place
It is poor to the two-way time of angle and three-dimensional laser, determine space angle and relative distance of the barrier relative to mobile platform；
In conjunction with mobile platform coordinate origin residing in three-dimensional system of coordinate, the D coordinates value of barrier is determined, delete three-dimensional
Height coordinate value in coordinate value obtains the plane coordinate value of barrier.
5. it is according to claim 1 based on three-dimensional laser around barrier method, which is characterized in that the determining mobile platform phase
For the proportionate relationship on road surface, proportionality coefficient is determined, the barrier in plane coordinate value is carried out according to proportionality coefficient swollen
Swollen processing, the coordinate value that obtains that treated, including：
The actual size for obtaining mobile platform determines ratio system of the mobile platform relative to road surface according to the actual size on road surface
Number；
Expansion process, the coordinate of barrier size marginal position after being expanded are carried out to the coordinate of barrier according to proportionality coefficient
Value.
6. it is according to claim 1 based on three-dimensional laser around barrier method, which is characterized in that it is described be based on three-dimensional laser pair
Barrier carries out the intermittent scanning of preset quantity number, and the probability occurred to barrier according to intermittent scanning result is modified,
The appearance situation of barrier is judged based on correction result, including：
After being expanded after the coordinate value of size marginal position, three-dimensional laser is enabled to carry out the intermittent scanning of preset quantity number；
After each scan, whether occur carrying out the probability that barrier occurs according to barrier in scanning process in conjunction with formula one
It corrects,
Wherein, ω0For the probability initial value that barrier occurs, value 1, k is to correct weight, ωiGo out for revised barrier
The value of existing probability, i is positive integer；
After the completion of intermittent scanning, if ωiValue be more than 1, then judge that barrier goes out on the travel path of mobile platform
It is existing；It is opposite then judge that barrier is not on the travel path of mobile platform.
7. it is according to claim 1 based on three-dimensional laser around barrier method, which is characterized in that it is described to be occurred according to barrier
Situation plans the travel path of mobile platform, including：
Rasterizing is carried out to road surface residing for mobile platform to handle to obtain grating map, by A* algorithms to road surface residing for mobile platform
Global search is carried out, determines the relative distance for obtaining mobile platform and surrounding objects in grating map；
The shortest distance is chosen from relative distance, and shortest path is determined according to the corresponding direction of the shortest distance, enables mobile platform edge
Shortest path is advanced, and is realized and is operated around barrier.
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Application publication date: 20180720 |