摘要
为了实现无人车的自主导航,提出了一种基于GPS和INS的组合导航,并辅以激光雷达实现避障功能。首先确立整车的控制架构,确定基于SAE-J1939协议的整车CAN总线通信网络;然后研究了GPS导航,利用GPS的载波差分获得较高的位置精度,同时整合惯导的输出数据;最后通过激光雷达的不断扫描,获取周围物体的角度和距离,实现周边环境建模,有效规避障碍。实验验证了此导航的可行性和实时性。
To achieve the autonomous navigation of unmanned vehicle, this article introduces an integrated navigation based on GPS and INS and Lidar is used to avoid obstacle. First, this paper presents the framework of the unmanned vehicle and set up the CAN bus communication network based on SJA- J1939. Then carrier phase differential GPS is applied to received high-accuracy information of positioning. Also, INS exports data includes direction an acceleration. At last, lidar scans the environment to acquire the distance and corresponding angle and avoid obstacle efficiently. Experiments have proved the feasibility.
出处
《机电一体化》
2013年第2期59-61,74,共4页
Mechatronics
