Design of environment perception and trajectory planning system for concrete paving vehicles on airport runways
Under the context of unmanned construction of airport concrete pavements,this paper focuses on the key technolo-gies involved in pavement paving and post-processing vehicles.A multi-modal sensor-based environment perception and trajectory planning system is designed.Through the laser radar and visible light camera,the collected boundary information of the concrete pavement is processed and computed,generating a reference trajectory for guiding the paving machine.The envi-ronment perception module adopts deep learning-based image detection technique and point cloud-based feature extractiont-echnique,combining multiple sensor data through the Kalman filter algorithm.The trajectory planning module utilizes a 5th order polynomial interpolation method that minimizes the impact force to plan the trajectory.Experimental results demonstrate that the system can accurately extract the pavement boundary and generate a collision-free and dynamically feasible refer-ence trajectory,which can meet the requirements of vehicle travel and construction application,and has certain application value and engineering significance.