Research On Development And Navigation Technology Of Multi-Sensor Intelligent Unmanned Platform

With the rapid development of sensors,computer information,artificial intelligence and other technologies,the research on unmanned vehicle technology has drawn more and more attention from experts and scholars at home and abroad.Unmanned vehicles through the sensor to obtain external environment information and state information,based on these information to achieve autonomous movement and to complete certain tasks.Autonomous positioning is the basis of intelligent navigation and environment exploration research of unmanned vehicles.Because it is difficult for a single sensor to acquire all the information required by the system,the information fusion of multiple sensors becomes the key to the autonomous positioning of unmanned vehicles.Based on the self-developed multi-sensor intelligent unmanned platform as the research object,using the autonomous localization algorithm and multi-sensor information fusion technology,the environment perception and control system of unmanned vehicle is studied and designed in detail:First of all,this paper analyzes the characteristics of mobile robot platform at home and abroad.On the basis of selecting advanced sensor devices,the hardware system of multi-sensor intelligent unmanned platform is developed.The unmanned platform takes the on-board computer as the control center,integrates the GPS system,the laser radar,the ultrasonic sensor,the CCD camera and so on many kinds of sensor equipment.Secondly,in the aspect of software design of multi-sensor intelligent unmanned platform,DLL database and test program development module,including intelligent unmanned vehicle control base,ultrasonic sensor,single line laser radar sensor data collection,which lays a foundation for the further development and application of intelligent unmanned platform.Finally,the application of GPS based positioning navigation technology is studied,and the obstacle avoidance function is realized with single line radar.Design a path planning method based on behavior,the path planning behavior into global positioning planning and local planning for obstacle avoidance behavior,control rules of unmanned vehicle switch in two acts and cooperate with each other to complete the path planning task through rational behavior transformation,realizes the autonomous navigation ofunmanned vehicle.The effectiveness of the platform and navigation and obstacle avoidance method is verified by the actual environment experiment.