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Mobile Robot Autonomous Navigation and Dynamic Environmental Adaptation in Large-Scale Outdoor Scenes
Yang QF(杨奇峰)1,2,3,4; Qu DK(曲道奎)1,2,4; Xu F(徐方)1,2,4
Department其他
Conference Name12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
Conference DateAugust 8-11, 2019
Conference PlaceShenyang, China
Source PublicationIntelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
PublisherSpringer Verlag
Publication PlaceBerlin
2019
Pages314-325
Indexed ByEI
EI Accession number20193407335862
Contribution Rank1
ISSN0302-9743
ISBN978-3-030-27540-2
KeywordOutdoor mobile robot 3D map Dynamic obstacle avoidance Path planning
AbstractIn this paper, the problem of dynamic obstacle recognition and dynamic obstacle avoidance path planning for mobile robots in outdoor environment is studied. Based on the odometer data and the online matching algorithm of 3D laser scanning point clouds, the topological map and the global path planning are realized in this paper firstly. Based on the analysis of the geometric characteristics of obstacles, a novel approach of dynamic obstacle recognition method is presented. At the same time, a dynamic obstacle avoidance method based on the obstacle motion prediction is adopted to solve the reliable obstacle avoidance path planning problem of outdoor mobile robot. A series of experiments are conducted with a self-designed mobile robot platform in large-scale outdoor environments, and the experimental results show the validity and effectiveness of the proposed approach.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25490
Collection其他
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.Shenyang SIASUN Robot & Automation Co., Ltd., Shenyang 110168, China
Recommended Citation
GB/T 7714
Yang QF,Qu DK,Xu F. Mobile Robot Autonomous Navigation and Dynamic Environmental Adaptation in Large-Scale Outdoor Scenes[C]. Berlin:Springer Verlag,2019:314-325.
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