Research On Robot Driving A Vehicle

In recent years, disasters such as earthquakes, tsunamis and nuclear leakage, have caused severe damage and property loss for human beings. On the rescue scenes, there are some inconvenient situations, for example, having radiation and being poisonous, for rescuers to work. Therefore, it is of great necessity that robots, taking place of human beings, do the rescue work. Robots sometimes are needed to drive into the rescue scene. At present, the related research of robots driving can’t meet the present needs of realizing it. According to the needs of robots driving vehicles, this paper proposed the algorithm of robot driving vehicles from two aspects, artificial robot driving and robots’autonomic driving.This paper has identified the known road models in the DRC competition for the reason that robots can only use their own sensing device to complete the identification of a road when driving vehicles. First, it tests the blue obstacles in the road image taken by cameras and then gives the information of their locations in three-dimension. Also two-dimensional laser radar has the feature of scanning widely and getting the angle and distance of each obstacle directly, which makes up the inadequacy of only using a camera for image processing when the obstacles are tested. The method can better finish the identification of this kind of road model.The algorithm of the driving process in which robots are assisted is mainly based on the analysis of vehicle steering and the kinematics model of driving in low speed. Then according to the analysis, the connection of the steering wheel’s rotating angle and the vehicle’s turning radius is fitted, working out the correlation between them. Researchers give an estimation of its drivable area and mark the next driving destination in the image captured by camera. On the basis of the mapping relationship between world coordinates and pixel coordinates showed by cameras, the angle of steering wheel, as well as the expected driving lines in the image, is given out by calculating the position of next driving target and initial target. The stimulation of this in mat lab indicates that the way of getting auxiliary driving lines has carried on the preliminary verification and provides reference for control of the vehicle driving direction.The arithmetic study of robots’autonomic driving aims to complete the task of the DRC race and identify the road model of its field. By the joint use of the camera and laser radar, it can work out the angle and spatial location of the obstacles. Besides, according to the kinematics model of driving, researchers build up the model of the correlation between steering radius and vehicles moving trail and then get the coordinate of next driving target and the position of key point by setting the distance between next driving target and roadblock. Finally, researchers record the moving trail of the vehicle when it reaches the next driving target. The stimulation of this verifies that in known area vehicle can reach the target autonomously without the help of human, then realizing autonomous driving.The theoretic analysis and simulation results prove the validity of the algorithm. And the research of this paper proposes a solution to the technology of robots driving vehicles.