| 基于自主决策和多Agent协同控制的地铁全自动无人驾驶技术研究 |
投稿时间：2024-03-12 修订日期：2024-05-21  点此下载全文 |
| 引用本文： |
| 摘要点击次数: 59 |
| 全文下载次数: 0 |
|
|
| 中文摘要:由于初步规划的自动驾驶路径应用效果较差，导致无人驾驶技术的的安全阈值较低。因此，设计了基于自主决策和多Agent协同控制的地铁全自动无人驾驶技术。在多Agent协同控制的作用下，利用传感器获取大量的地铁环境信息，并对其进行误差分析，由此对地铁车体定位，对当前驾驶环境中所有路径点进行分析，并得到初步的路径规划结果，利用自主决策算法对路径规划结果进行优化，得到最优的自动驾驶路径，执行地铁全自动无人驾驶任务，实现地铁的无人驾驶。实验结果表明，该技术在实际应用中安全阈值更高，自动驾驶的应用性能更好。 |
| 中文关键词:自主决策 多Agent协同控制 地铁 全自动无人驾驶 无人驾驶技术 自主导航 |
| |
| Research on Fully Automatic Autonomous Autonomous Driving Technology for Subway Based on Autonomous Decision Making and Multi Agent Collaborative Control |
|
|
| Abstract:Due to the poor application effect of the initially planned autonomous driving path, the safety threshold of autonomous driving technology is relatively low. Therefore, a fully automated unmanned driving technology for subways based on autonomous decision-making and multi-agent collaborative control was designed. Under the collaborative control of multiple agents, sensors are used to obtain a large amount of subway environmental information, and error analysis is carried out to locate the subway body. All path points in the current driving environment are analyzed, and preliminary path planning results are obtained. Autonomous decision-making algorithms are used to optimize the path planning results and obtain the optimal autonomous driving path. Based on the above, the subway fully automated autonomous driving task is executed, Realize autonomous driving of the subway. The experimental results indicate that this technology has a higher safety threshold and better performance in the application of autonomous driving in practical applications. |
| keywords:autonomous decision-making Multi agent collaborative control Subway Fully automated unmanned driving Autonomous driving technology Autonomous navigation |
| 查看全文 查看/发表评论 下载pdf阅读器 |
位访问者,今日访问
