CASPIAN JOURNAL
MANAGEMENT AND HIGH TECHNOLOGIES
A SOFTWARE CONSTRUCTION OF THE UNMANNED GROUND VEHICLE TRAJECTORY
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Read | Egunov Vitaly A., Markov Alexey E., Skorikov Andrey V., Tarasov Pavel S. A SOFTWARE CONSTRUCTION OF THE UNMANNED GROUND VEHICLE TRAJECTORY // Caspian journal : management and high technologies. — 2019. — №3. — pp. 70-82. |
Egunov Vitaly A. - Cand. Sci. (Engineering), Associate Professor, Volgograd State Technical University, vegunov@mail.ru
Markov Alexey E. - student, Volgograd State Technical University, markovalex95@gmail.com
Skorikov Andrey V. - Assistant, Volgograd State Technical University, scorpion_energy@mail.ru
Tarasov Pavel S. - Assistant, Volgograd State Technical University, tarasradio@mail.ru
The questions of building a program trajectory that can be used in initiative projects to create unmanned vehicles implemented by the creative teams of the Volgograd State Technical University are considered. The author's method of constructing this trajectory, which is a modification of the well-known algorithm for routing unmanned ground vehicles. Polynomials are used to describe the trajectory of motion. To find the coefficients of polynomials describing the optimal trajectory, the system of linear algebraic equations is solved. The use of this method allows to optimize the construction of the trajectory taking into account the given restrictions. The presented solutions were tested on the real author's model of an unmanned vehicle equipped with an onboard computer NVidia Jetson TX2, which is a heterogeneous parallel computing system, which includes two 64-bit Quad-core ARM-processor and GPU Pascal.
Key words: беспилотный автомобиль, построение траектории, оптимальная траектория, метод планирования движения, система линейных алгебраических уравнений, объезд препятствий, алгоритм Дейкстры, unmanned vehicle, construction of the trajectory, the optimal trajectory,