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题名:
A novel navigation scheme in dynamic environment using layered costmap
作者: Han XN(韩小宁); Leng YQ(冷雨泉); Luo HT(骆海涛); Zhou WJ(周维佳)
作者部门: 空间自动化技术研究室
通讯作者: 韩小宁
会议名称: 29th Chinese Control and Decision Conference, CCDC 2017
会议日期: May 28-30, 2017
会议地点: Chongqing, China
会议录: Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2017
页码: 7123-7128
收录类别: EI
ISBN号: 978-1-5090-4656-0
关键词: Dynamic Navigation ; Layered Costmap ; Automobile Robots ; Path Planning
摘要: Navigation 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.
语种: 英语
产权排序: 1
EI收录号: 20173504089658
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/20870
Appears in Collections:空间自动化技术研究室_会议论文

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Recommended Citation:
Han XN,Leng YQ,Luo HT,et al. A novel navigation scheme in dynamic environment using layered costmap[C]. 29th Chinese Control and Decision Conference, CCDC 2017. Chongqing, China. May 28-30, 2017.A novel navigation scheme in dynamic environment using layered costmap.
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