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在不平坦的地形上为地面车辆提供安全有效的导航框架,考虑到动力限制和地形可行性

Jingyao Gai¹, Zhiyang Guo¹, Huimin Su¹

¹School of Mechanical Engineering, Guangxi University, Nanning 530004, China.

Sensors (Basel, Switzerland)

|March 14, 2026

概括

这项研究引入了在不平坦地形上使用地面车辆的新导航框架. 它通过整合动力学约束和地形因素来确保更安全,更光滑和更短的路径,以实现高效的自动驾驶.

科学领域:

机器人技术和自主系统
控制理论控制理论
地理空间分析的研究.

背景情况:

自主地面车辆需要在不平坦的地形上安全有效地导航.
现有的路径规划方法往往忽视了整合的车辆动力学约束,地形可行性,路径平滑性,翻转风险和路径长度.
综合性路径规划对于复杂环境中可靠运行至关重要.

研究的目的:

为在不平坦的地形上使用地面车辆提出一个新的导航框架.
通过整合车辆动力学,地形特征和安全指标来增强路径规划.
在实际的时间限制内实现安全,高效和顺的路径规划.

主要方法:

使用斜率,平坦度,高度变化和稀疏度生成2D全球地形可穿越性成本地图.
一个三相路径规划算法,结合了A*,引导快速探索随机树 (RRT) 和动态和地形感知概率路线图 (KT-PRM) 的本地重新规划算法.
非线性模型预测控制 (NMPC) 用于路径跟踪.

主要成果:

拟议的动态和地形感知概率路线图 (KT-PRM) 算法有效地整合了多个规划因素.
三阶段路径规划方法在不平坦的地形上产生更安全,更流,更短的全球路径.
在模拟和现实环境中的实验结果验证了框架的性能.

结论:

新的导航框架显著改善了地面车辆在不平坦地形上的路径规划.
动力学约束和地形意识的整合导致更安全,更有效的自主导航.
与现有的导航框架相比,拟议的方法提供了一个全面的解决方案.

关键词:

层次的规划层次的规划动力学约束动力学约束导航框架导航框架导航框架地形可穿越性的地形可穿越性.无人驾驶地面车辆无人驾驶地面车辆

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