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	Boundary Gap Based Reactive Navigation in Unknown Environments
	Zhao Gao; Jiahu Qin; Shuai Wang; Yaonan Wang
刊名	IEEE/CAA Journal of Automatica Sinica
	2021
卷号	8期号:2页码:468-477
关键词	Boundary gap local minima reactive navigation unknown environments
ISSN号	2329-9266
DOI	10.1109/JAS.2021.1003841
英文摘要	Due to the requirements for mobile robots to search or rescue in unknown environments, reactive navigation which plays an essential role in these applications has attracted increasing interest. However, most existing reactive methods are vulnerable to local minima in the absence of prior knowledge about the environment. This paper aims to address the local minimum problem by employing the proposed boundary gap (BG) based reactive navigation method. Specifically, the narrowest gap extraction algorithm (NGEA) is proposed to eliminate the improper gaps. Meanwhile, we present a new concept called boundary gap which enables the robot to follow the obstacle boundary and then get rid of local minima. Moreover, in order to enhance the smoothness of generated trajectories, we take the robot dynamics into consideration by using the modified dynamic window approach (DWA). Simulation and experimental results show the superiority of our method in avoiding local minima and improving the smoothness.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/43925]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Zhao Gao,Jiahu Qin,Shuai Wang,et al. Boundary Gap Based Reactive Navigation in Unknown Environments[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(2):468-477.
APA	Zhao Gao,Jiahu Qin,Shuai Wang,&Yaonan Wang.(2021).Boundary Gap Based Reactive Navigation in Unknown Environments.IEEE/CAA Journal of Automatica Sinica,8(2),468-477.
MLA	Zhao Gao,et al."Boundary Gap Based Reactive Navigation in Unknown Environments".IEEE/CAA Journal of Automatica Sinica 8.2(2021):468-477.

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