Invisible water obstacle recognition and obstacle avoidance algorithm based on vehicle dynamics

Aiming at the problem that UGV can easily fail to identify invisible water obstacles on unstructured roads due to image recognition method, this paper proposes an algorithm for recognizing and avoiding invisible water obstacles in the field based on vehicle dynamics. First, the vehicle model and tire model are established, the road adhesion coefficient identification framework is built, and the identification algorithm is designed. Secondly, a three-dimensional information grid obstacle map containing road adhesion coefficient information is established to define the original planned path coordinates, and the mapping processing method on the grid map and the search direction of modified path are defined according to different obstacle shapes in the field. Finally, an obstacle avoidance algorithm is designed and evaluated. By comparing the recognition value and setting the threshold value, it can judge whether to drive to the edge of the obstacle. If the point is not suitable for walking, the feasible grid point is searched again; otherwise, the grid point is kept. The simulation results show that this method can be used to plan a safe obstacle avoidance path for unmanned ground vehicle in the field under the rainy bog obstacle scenario.