计算机与数字工程2023，Vol.51Issue(12)：2836-2840,2917,6.DOI:10.3969/j.issn.1672-9722.2023.12.013
基于A*算法和TEB算法的智能小车自主导航避障研究
Research on Automatic Navigation Obstacle Avoidance of Intelligent Car Based on A* Algorithm and TEB Algorithm
摘要
Abstract
In the control system of intelligent car,the environment changes constantly with the movement of the intelligent car,which affects the next movement control of the intelligent car.To solve this problem,an automatic navigation obstacle avoid-ance system for intelligent car based on A*algorithm and TEB algorithm is designed.Jetson Nano is regarded as the core controller of the system;it runs Ubuntu 18.04 system and installs the ROS robot operating system.At the same time,STM32 is selected as the main control board of motion controller of the system,the board is equipped with IMU,which can realize the closed-loop control of four DC motors.The lidar is used to scan the environment around the intelligent car continuously,and the fusion positioning ap-proach of IMU and wheel odometer is utilized to obtain the odometer information after fusion filtering,so that the automatic naviga-tion obstacle avoidance function of the intelligent car can be realized.Finally,the proposed method is verified by numerical simula-tion and experimental debugging.The obtained results show that the system can locate effectively and accurately,and achieve the function of autonomous navigation obstacle avoidance.关键词
A*算法/TEB算法/智能小车/自主导航避障Key words
A*algorithm/TEB algorithm/intelligent car/automatic navigation obstacle avoidance分类
信息技术与安全科学引用本文复制引用
王春平,汪家琪,高金凤..基于A*算法和TEB算法的智能小车自主导航避障研究[J].计算机与数字工程,2023,51(12):2836-2840,2917,6.基金项目
国家自然科学基金项目(编号:62073296) （编号:62073296）
浙江理工大学科技与艺术学院高教改革项目(编号:Kyjg2115)资助. （编号:Kyjg2115）
