Mobile Robot Autonomous Navigation and Dynamic Environmental Adaptation in Large-Scale Outdoor Scenes

	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)1,3,4; Xu F(徐方)1,3,4
	2019
会议日期	August 8-11, 2019
会议地点	Shenyang, China
关键词	Outdoor mobile robot 3D map Dynamic obstacle avoidance Path planning
页码	314-325
英文摘要	In 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.
产权排序	1
会议录	Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
会议录出版者	Springer Verlag
会议录出版地	Berlin
语种	英语
ISSN号	0302-9743
ISBN号	978-3-030-27540-2
WOS记录号	WOS:000569253700026
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25490]
专题	沈阳自动化研究所_其他
通讯作者	Yang QF(杨奇峰)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Shenyang SIASUN Robot & Automation Co., Ltd., Shenyang 110168, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Yang QF,Qu DK,Xu F. Mobile Robot Autonomous Navigation and Dynamic Environmental Adaptation in Large-Scale Outdoor Scenes[C]. 见:. Shenyang, China. August 8-11, 2019.