Vehicle autonomous return based on 2D grid map

This paper focuses on the research of autonomous return home for unmanned combat platforms, and proposes an autonomous return home method based on 2D grid maps. In the process of map construction, wheel odometer and IMU information are introduced, and EKF is used to fuse the data of the two. The experiment shows that this method can make the grid map match the actual environment better. In the return home process, based on the created map, a heuristic algorithm is used to plan the global path, and a dynamic window method is used to plan the local path. Finally, an autonomous homing experiment was conducted on the Ackermann steering robot to verify the effectiveness of the proposed autonomous homing method.