Algorithm Research & Explore
|
App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 4
1000-1005,1018

Path planning and control of unmanned washing and sweeping vehicles in closed parks

Ye Ming1
Zhou Junchong1
Zheng Yi2
Lu Xiangwei1
Liu Yonggang3
1. School of Vehicle Engineering, Chongqing University of Technology, Chongqing 400054, China
2. School of Automobile & Transportation, Chengdu Technological University, Chengdu 611730, China
3. College of Mechanical & Vehicle Engineering, Chongqing University, Chongqing 400044, China
DOI: 10.19734/j.issn.1001-3695.2022.09.0456

Abstract

To realize the unmanned function of automatic washing and sweeping vehicles in closed parks, this paper designed a path planning and control algorithm based on a closed park scenario. It constructed the global path planning layer by using the improved A-Star algorithm combined with the third-order Bezier curve. It designed the local path planning layer based on the state space sampling, and obtained the optimal local path by considering the constraints such as the steering constraints of the sweeper, the safe collision distance, and the road boundary distance. It used the Pure-Pursuit tracking algorithm to track the optimal path output by the local path planning layer. Then, it built the Simulink-ROS joint simulation platform, compiled the planning control algorithm in Simulink, and embedded it into the ROS platform for simulation verification. Finally, it used the MDC300F vehicle-mounted computer to carry out the multi-condition real-vehicle experiment of the algorithm. The results show that the planning control algorithm can control the automatic sanitation washing and sweeping vehicle to complete unmanned functions such as following cars, avoiding obstacles, and meeting cars in multiple working conditions.

Foundation Support

国家自然科学基金面上项目(52172400)
重庆市技术创新与应用发展专项项目(cstc2021jscx-gksbX0043)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.09.0456
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 4
Section: Algorithm Research & Explore
Pages: 1000-1005,1018
Serial Number: 1001-3695(2023)04-007-1000-06

Publish History

[2022-11-14] Accepted Paper
[2023-04-05] Printed Article

Cite This Article

叶明, 周俊充, 郑毅, 等. 封闭园区内无人驾驶洗扫车路径规划及控制 [J]. 计算机应用研究, 2023, 40 (4): 1000-1005,1018. (Ye Ming, Zhou Junchong, Zheng Yi, et al. Path planning and control of unmanned washing and sweeping vehicles in closed parks [J]. Application Research of Computers, 2023, 40 (4): 1000-1005,1018. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

Indexed & Evaluation

  • The Second National Periodical Award 100 Key Journals
  • Double Effect Journal of China Journal Formation
  • the Core Journal of China (Peking University 2023 Edition)
  • the Core Journal for Science
  • Chinese Science Citation Database (CSCD) Source Journals
  • RCCSE Chinese Core Academic Journals
  • Journal of China Computer Federation
  • 2020-2022 The World Journal Clout Index (WJCI) Report of Scientific and Technological Periodicals
  • Full-text Source Journal of China Science and Technology Periodicals Database
  • Source Journal of China Academic Journals Comprehensive Evaluation Database
  • Source Journals of China Academic Journals (CD-ROM Version), China Journal Network
  • 2017-2019 China Outstanding Academic Journals with International Influence (Natural Science and Engineering Technology)
  • Source Journal of Top Academic Papers (F5000) Program of China's Excellent Science and Technology Journals
  • Source Journal of China Engineering Technology Electronic Information Network and Electronic Technology Literature Database
  • Source Journal of British Science Digest (INSPEC)
  • Japan Science and Technology Agency (JST) Source Journal
  • Russian Journal of Abstracts (AJ, VINITI) Source Journals
  • Full-text Journal of EBSCO, USA
  • Cambridge Scientific Abstracts (Natural Sciences) (CSA(NS)) core journals
  • Poland Copernicus Index (IC)
  • Ulrichsweb (USA)