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论文:2012,Vol:30,Issue(5):763-767 |
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引用本文： |
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张明环, 张科. 智能车避障触须算法中的障碍物探测研究[J]. 西北工业大学 |
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Zhang Minghuan, Zhang Ke. A Better Obstacle Detection Method Based on Tentacle Algorithm of Obstacle Avoidance for Intelligent Vehicle[J]. Northwestern polytechnical university |
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| 智能车避障触须算法中的障碍物探测研究 |
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| 张明环, 张科 |
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| 西北工业大学 航天学院, 陕西 西安 710072 |
| 摘要: |
| 文章研究了一种基于智能车避障触须算法的障碍物探测的改进算法。介绍了障碍物地图的初步建立、不同速度值下触须和通行区域的计算以及改进算法的实现。在Visual Studio 2008平台上,通过在不同车速值下进行仿真计算,得到了每条触须上最近障碍物的距离,并依此分别给出了直观的仿真结果。文中通过将理论分析和仿真结果对比,指出了车速和单个障碍物点对结果的影响,并结合改进算法的目的和意义,证明了所实现的障碍物探测改进算法具有较高的可信性和实用性。 |
| 关键词:
智能车辆
障碍物地图
避障
触须算法
通行区域
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| A Better Obstacle Detection Method Based on Tentacle Algorithm of Obstacle Avoidance for Intelligent Vehicle |
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| Zhang Minghuan, Zhang Ke |
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| College of Astronautics,Northwestern Polytechnical University,Xi'an 710072,China |
| Abstract: |
| Aim.Some information may be faulty in the primary obstacle map based on a 360 degree lidar; there-fore, an improved obstacle detection method based on tentacle algorithm of obstacle avoidance for intelligent vehicleis presented.We believe that this method is much better than existing ones.Section 1 builds a primary obstaclemap as shown in Fig.1.In section 2, we describe the tentacle algorithm and show a group of tentacles as shown inFig.2.Section 3 mainly consists of: (1)the definition and calculation of support area and minimum support area;Figs.3 through 5 are worth noticing; (2)subsection 3.2 gives the procedure of the improved method.Simulationresults are given in Figs.6 and 7.The results and their analysis show preliminarily that the method is both reliableand effective, thus proving that our method is indeed better. |
| Key words:
algorithms
artificial intelligence
collision avoidance
computer simulation
computer software
com-puter vision
mapping
reliability
schematic diagrams
trajectories;tentacle algorithm
support area
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| 收稿日期: 2011-11-20
修回日期:
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| DOI: |
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Email： |
| 作者简介: 张明环(1985-)，西北工业大学博士研究生，主要从事通信、测控及信息安全与对抗技术研究。
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| 相关功能 |
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| 作者相关文章 |
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| 张明环 在本刊中的所有文章 |
| 张科 在本刊中的所有文章 |
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