Research on autonomous positioning and path planning system for unmanned ammunition supply vehicle

DOI:	10.11809/bqzbgcxb2024.08.029
Keywords:	autonomous positioning; gauss krugerprojection; path planning; weighted A* algorithm; Qt Creator development
Abstract:	According to the performance requirements of the unmanned ammunition supply vehicle, the vehicle positioning system is designed and the hardware is assembled. The dynamic real time differential positioning and GPS inertial combined positioning algorithm are used to eliminate the error in autonomous positioning and solve the problem of autonomous positioning accuracy of the unmanned ammunition supply vehicle. By introducing weighted coefficient, the traditional A* algorithm is optimized to solve the problem of long running time caused by too many grids. The navigation coordinate system of unmanned vehicle is introduced into the grid environment map, and the grid map is given practical significance, which solves the problem of matching the path planned by the algorithm with the real path. The autonomous positioning and hardware test platform of unmanned ammunition supply vehicle was built, and the autonomous positioning and path planning software system of unmanned ammunition supply vehicle was developed by Qt Creator.The feasibility and correctness of the whole system are verified by experiments, the positioning accuracy and path planning performance of the unmanned ammunition supply vehicle are improved, and the overall performance design requirements of the system are met.
Issue:	Vol. 45 No. 8 (2024)
Published:	2024-09-02
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