一种基于B样条曲线的无人矿卡路网轨迹制作优化方法

• Format: Patent
• Language: Chinese
• Published: 20.02.2024
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; CONTROLLING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; ELECTRIC DIGITAL DATA PROCESSING; 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; REGULATING; SURVEYING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

本公开是关于一种基于B样条曲线的无人矿卡路网轨迹制作优化方法、装置、电子设备以及存储介质。其中，该方法包括：基于驾驶员驾驶无人矿卡进行GPS原始路径点录制，生成录制轨迹的UTM坐标值、高程信息；对开环路径的录制轨迹进行开环轨迹补全处理；基于所述录制轨迹的离散点计算B样条曲线控制点，基于SDM拟合算法完成对所述录制轨迹的闭环轨迹拟合；基于录制轨迹的高程信息，对完成闭环轨迹拟合的所述录制轨迹进行高程数据匹配处理；截取所述录制轨迹起点和终点，生成路网轨迹文件。本公开能够高效的制作出符合大型车辆运动约束、曲率连续、路径点稠密且带有高程信息的长距离矿山运输路网轨迹。