Research on Driving Assistance System of Self-Propelled Aerial Work Platform

Aiming at the problems such as low positioning accuracy, large safety risks and difficult spatial coordination in the high-altitude sorting operation of narrow tunnel multi-storey warehouse, this paper proposes an intelligent auxiliary system of self-propelled aerial work platform, which integrates multi-modal sensing and spatio-temporal constraint planning. And through the establishment of the spatio-temporal path planning algorithm based on the improved $A^{*}$ algorithm, the coordinates of the goods need to be taken as input, the path is calculated and the navigation is prompted. And combined with millimeter wave radar, ToF sensor and other safety system to achieve centimeter-level environment perception and dynamic obstacle avoidance, as well as cargo lane height limit and speed limit functions.