【摘要】 设计了一种小型室外无人垃圾清扫车的控制方案。该方案选取缩进式清扫作为路径规划策略,应用曲率算法与路段单元判断算法实现清扫车自主循迹。曲率算法是根据清扫车测距传感器的返回值计算切向与法向的位移微元,进而计算路缘线曲率;路段单元判断算法是通过识别五种基本路段单元特征判断清扫车所处路段,进而实现清扫车自主决策与循迹。更多还原

【Abstract】 A control scheme for a small outdoor unmanned garbage sweeper was designed,with indent cleaning selected as the path planning strategy,curvature algorithm road section unit judgment algorithm applied to realize the autonomous tracking of the sweeper. The curvature algorithm is used to calculate the tangential and normal displacement elements based on the return value of the sweeper distance sensor,thereby calculating curvature of the path; the road section unit judgment algorithm judges the road section whether the sweeper is through identification of the features of five basic road section units,thereby realizing the autonomous decision-making and tracking of the sweeper.更多还原