Local cost map generation method, storage medium and intelligent unmanned inspection vehicle

• Main Authors: LIU JUNCHUAN, CAO KUIKANG, REN SIXU, YUAN CHENXING, GU XIAODONG, CHANG HUA
• Format: Patent
• Language: Chinese; English
• Published: 03.09.2021
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The invention provides a local cost map generation method, a storage medium and an intelligent unmanned inspection vehicle, and belongs to a point cloud map construction technology in the field of automatic navigation. The method comprises the following steps: acquiring a current laser point cloud PClidar containing environmental information and position vector information Vectormap in real time, performing coordinate transformation, determining a region of interest ROI, traversing all spatial points pi in the region of interest ROI in the current laser point cloud PClidar, calculating the number of point clouds countmn, searching the maximum value of the number of point clouds countmn as count_max, transferring the position vector information Vectormap to a base coordinate of an unmanned vehicle base to obtain Vectorbase, traversing all positions of the current local cost map Costlocal, judging and marking the passable conditions of all areas, and completing the local cost map Cost' local with passing inform