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A novel navigation scheme in dynamic environment using layered costmap
Han XN(韩小宁); Leng YQ(冷雨泉); Luo HT(骆海涛); Zhou WJ(周维佳)
Department空间自动化技术研究室
Conference Name29th Chinese Control and Decision Conference, CCDC 2017
Conference DateMay 28-30, 2017
Conference PlaceChongqing, China
Source PublicationProceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages7123-7128
Indexed ByEI ; CPCI(ISTP)
EI Accession number20173504089658
WOS IDWOS:000427082202094
Contribution Rank1
ISSN1948-9439
ISBN978-1-5090-4656-0
KeywordDynamic Navigation Layered Costmap Automobile Robots Path Planning
AbstractNavigation is one of basic functions of auto-mobile robots. After dozens of years of development, now the navigation in static environment almost has been realized, taking the method in ROS (i.e. Robot Operation System) navigation stack as an example. However, when cruising in dynamic environment, there are more difficulties, as the objects in the environment can change their positions. To deal with such cases, we propose a scheme to navigate using layered costmap. By predicting the dynamic object's encounter position according to both its and the robot's kinematic information, and put it in another layer, and set different costs around the objects according the estimation of the motion of them, then path based on the layered costmaps can be planned. In this paper, the safety and efficiency of our scheme have been proven by the results of simulation.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20870
Collection空间自动化技术研究室
Corresponding AuthorHan XN(韩小宁)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
Recommended Citation
GB/T 7714
Han XN,Leng YQ,Luo HT,et al. A novel navigation scheme in dynamic environment using layered costmap[C]. New York:IEEE,2017:7123-7128.
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