| A novel obstacle avoidance and navigation method for outdoor mobile robot based on laser radar | |
| Li Yun-Chong ; He Ke-Zhong | |
| 2010-05-06 ; 2010-05-06 | |
| 关键词 | Practical/ collision avoidance mobile robots navigation optical radar/ outdoor mobile robot obstacle avoidance angle potential field method navigation method laser radar polar coordinate space object location estimation/ C3390C Mobile robots C3120C Spatial variables control |
| 中文摘要 | A novel method named angle potential field method is presented for obstacle avoidance and navigation of outdoor mobile robot. With the method, the 2-dimension obstacle information in the polar coordinate space of current view scene is transformed to the 1-dimension angle field. Repulsive forces produced by obstacles and attractive forces produced by the object location are estimated integratively to calculate the pass function and the purpose angle, and the controlling output of steering angle and velocity of the mobile robot are determined. As thus, both the safety of the robot and the approach to the object location are considered. The method has been applied to our outdoor mobile robot THMR-V. |
| 语种 | 中文 ; 中文 |
| 出版者 | Chinese Assoc. of Automation ; China |
| 内容类型 | 期刊论文 |
| 源URL | [http://hdl.handle.net/123456789/11559]  |
| 专题 | 清华大学 |
| 推荐引用方式 GB/T 7714 | Li Yun-Chong,He Ke-Zhong. A novel obstacle avoidance and navigation method for outdoor mobile robot based on laser radar[J],2010, 2010. |
| APA | Li Yun-Chong,&He Ke-Zhong.(2010).A novel obstacle avoidance and navigation method for outdoor mobile robot based on laser radar.. |
| MLA | Li Yun-Chong,et al."A novel obstacle avoidance and navigation method for outdoor mobile robot based on laser radar".(2010). |
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