Research On Integrated Navigation Of Unmanned Vehicles Based On Path

The current, driving the car doesn’t only depend on the operation of people andmechanical movement, but also there is some electronic equipment application, suchas power-assisted steering, cruise. The application of these techniques on the carmakes it more humanized, and the people drive the car much more conveniently, sothe people have energy to do other things. The ALV is the reflection of the idea, andthe vehicle is unmanned operation.The study surroundings of the ALV in the paper is always none of people or fewpeople, and the load is not normalized. Therefore the navigation of the car is veryimportant. The location of the vehicle in the environment depends on the navigation.But the single navigation is not accurately sure of the position of the vehicle. Thepaper uses integrated navigation, of which the IN-GPS is the main. Because the INS(inertial navigation system) is the autonomous navigation and have the inertialelement to solve the position of the vehicle, and avoid the disturb of electromagnet.The long time work of the INS lead to the inevitable cumulative error. And, the GPSis complementary, and remove the cumulative error. When the signal of GPSinterrupts, the vehicle uses INS to navigate. The complement of the INS and the GPSimprove accuracy and stability of the navigation system.The way must be planned in the no way zone. Imagine using the method ofwaypoint to design the way. The method is to use the manned driving to record thepoints, and link these points to form the path. Use the navigation to find the point ofthe vehicle. Then read the relevant parameters and control the vehicle (speed, steering). The relevant parameters depend on the characteristic of the terrain. Thesituation of the terrain must be considered with the changeful terrain. Use the laser toobtain the width of road, and collect the speed and steering of the vehicle on somepoint according to the manned driving. Then the all data record in the parameters ofthe point.Autonomous vehicle is a linear control but can’t completely follow the path totravel. The roughness of the road surface, slope and obstacles are all have impacts onvehicles. Autonomous vehicle needs real-time detection of road to avoid obstacles ortakes the emergency brake to avoid accidents. For obstacle detection use a laserrangefinder and take visual method to identify obstacles. By using laser rangefinderdetect the inner height of the grid in order to check if the car can through; using visualmethod to deal with the regional image far away from the vehicle.According to the navigation and terrain conditions select the appropriate vehiclecontrol. The vehicle control mainly refers to two parameters: vehicle speed, steeringsize. By controlling the throttle opening, brake, steering wheel angle to change therelevant parameters. This paper used Matlab/Simulink for integrated navigationsimulation and verified the feasibility of the integrated navigation. This article’scontent provides assistant for the further development of unattended vehicles.