Research On Measurement And Control System Of Unmanned Vehicles In Field

In modern society,unmanned driving technology and robotics technology have made great progress,positioning technology and navigation technology of unmanned vehicles and mobile robots have also become key research directions.Positioning accuracy and navigation accuracy are important guarantees for the normal driving of unmanned vehicles.In unmanned driving technology based on lidar and SLAM systems,positioning accuracy and navigation accuracy depend on the accuracy of map construction,the reliability of route planning technology,and the performance of vehicle hardware execution units.Based on the analysis of the key technologies of unmanned vehicles in a specific structured environment,this paper mainly conducts research and design from the aspects of map construction,path planning,and hardware execution units of unmanned vehicles:Study the overall structure of the original vehicle,and design the hardware system and software system.Establish the vehicle's motion model and correlate the coordinate system,select the lidar and establish the observation model;introduce the map model used in map construction,select the appropriate map model and conduct simulation tests.Study the collection of environmental data by lidar;introduce the SLAM algorithm based on graph optimization and design the algorithm,and simulate the feasibility of the algorithm in a specific structured environment and analyze the results;The path planning algorithm of DWA is introduced and the algorithm design is carried out;the minimum system of SLAM is designed.Research on the hardware unit of the original vehicle,and use the neural network PID compound control algorithm to optimize the steering unit and drive unit,and design and modify the braking unit to improve driving safety.In response to the unmanned driving needs of electric vehicles,the SLAM minimum system and hardware control system are built,and the relevant software and hardware platforms are built using electric vehicles as the carrier.For the SLAM minimum system,SLAMWARE Core and STM32 single-chip microcomputer are used as the core algorithm processing unit to design the map construction unit and the path planning unit.The SLAM minimum system can be based on the environmental information collected by the lidar,the angle information collected by the corner sensor,and the mileage collected by the encoder.This information completes the construction of the map,and controls the hardware system to realize path planning.For the hardware system,the steering unit,braking unit and drive unit are designed with STM32 microcontroller as the core.The steering unit is composed of a steering motor driver,a steering motor,a rotation angle sensor,etc.The steering unit can control the steering mechanism to achieve the desired position of steering according to the environmental information obtained by the SALM minimum system;the braking unit is composed of a laser ranging sensor,a relay,a linear motor,etc.,The braking unit can perform emergency braking and slow braking according to the distance of the obstacles around the vehicle;the drive unit is composed of an encoder,a drive motor,a vehicle speed controller,etc.The drive unit provides mileage information for the SLAM minimum system,and can be based on SLAM.The environmental information obtained by the minimum system regulates the speed of the vehicle through the speed controller.Figure[83]Table[4]Reference[66]...