[1]赵春霞,唐振民,陆建峰,等.面向自主车辆的局部路径规划仿真系统[J].南京理工大学学报(自然科学版),2002,(06):570-574.
 ZhaoChunxia TangZhenmin LuJianfeng YangJingyu LiuChuancai.The Simulation System for the Local Path Planning of the Autonomous Vehicle[J].Journal of Nanjing University of Science and Technology,2002,(06):570-574.
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面向自主车辆的局部路径规划仿真系统()
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2002年06期
页码:
570-574
栏目:
出版日期:
2002-12-30

文章信息/Info

Title:
The Simulation System for the Local Path Planning of the Autonomous Vehicle
作者:
赵春霞唐振民陆建峰杨静宇刘传才
南京理工大学计算机科学与技术系, 南京210094
Author(s):
ZhaoChunxia TangZhenmin LuJianfeng YangJingyu LiuChuancai
Department of Computer Science and Technology,NUST,Nanjing 210094
关键词:
仿真系统 路径规划 混合仿真 自主车辆
Keywords:
simulat ion system path planning mixed simulat ion autonomous vehicles
分类号:
TP391.9
摘要:
地面自主车辆研究是当今一个研究热点。由于地面自主车辆运行在户外复杂环境中 ,因此对仿真系统的研究非常重要。该文介绍了面向室外非结构环境下的自主车辆局部路径规划虚实混合仿真系统 ,该系统由基于真实环境的二维仿真、算法跟踪调试系统 ,及用于算法研究的三维虚拟仿真系统组成 ,采用VC + + 6 .0实现。通过将真实系统实际运行数据与仿真环境结合 ,为自主车辆的研究与开发提供更好、更真实的仿真环境 ,并在自主车辆的研究与系统联调中发挥了良好的作用。
Abstract:
Research on Autonomous Land Vehicle( ALV) is a main subject now adays. Because the vehicle w orks in the complex outdoor environment, it is very important to study and manipulate the simulat ion system. The mix ed virtual reality simulat ion structure for the local path planning of the autonomous vehicles in the outdoor unst ructured environment was introduced. T he system consist s of the 2- D simulat ion based on real environment , algorithm t racing and debugging system, and the 3- D virtual simulat ion system. It is carried out by Visual C + + 6. 0 for the study of the algorithm. By combinat ion of real data f rom the real system w ith the virtual simulat ion system, a much bet ter simulat ion environment can be supplied for the study and development of autonomous vehicles.

参考文献/References:

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4 刘传才, 杨静宇1 自主车的局部路径规划1 机器人, 1999, 21( 6) : 436~ 441
5 唐振民, 赵春霞1 地面自主机动平台的局部路径规划1 机器人, 2001, 23( 7) : 742~ 745
6 邬永革, 黄炯, 杨静宇1 基于多传感器信息融合的机器人障碍检测和环境建模1 自动化学报, 1997, 23( 5) : 641~ 648

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备注/Memo

备注/Memo:
国防科技预研跨行业基金资助项目
赵春霞 女 38 岁 研究员
更新日期/Last Update: 2002-12-30