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Algorithm for autonomous navigation of mobile robot measurements based on Beidou/laser radar
Li, Dan1; He, Guotian2; Wu, Canfeng3; Wang, Tianmiao3
2017
摘要In order to improve the autonomous motion capability of the mobile robot, we have come up with a method of avoiding obstacles based on the Beidou and laser radar. First, we can get the information of the mobile robot's current position, heading direction and speed by the Beidou differential positioning, and then obtain the relative position between the robot and the target by positioning target point. With the combination of the data information obtained by the laser radar and based on VFH obstacle avoidance approach, we can divide the whole path planning into three parts: fast-approaching target behavior, obstacle avoidance behavior and emergency stop behavior. When there are no obstacles between the robot and the target, we can control the robot's coming to the target at a full speed; as for the avoidance behavior, we can make full use of the information about the angles, calculate the best traffic position and take the initiative to avoid obstacles; when the robot come across some obstacles or reaches its target, we can adopt the emergency stop behavior. And then the feasibility and real-time of this method are verified by these experiments. © 2017 IEEE.
语种英语
DOI10.1109/ACIRS.2017.7986113
会议(录)名称2nd Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2017
页码305-309
收录类别EI
会议地点Wuhan, China
会议日期June 16, 2017 - June 18, 2017