Real-time path planning based on certainty grids map in complex environments

	Real-time path planning based on certainty grids map in complex environments
	Li, Jigong; Feng, Yiwei; Guo, Ge
	2007
关键词	mobile robot path planning certainty grid obstacle avoidance
页码	525-+
英文摘要	This paper proposed the Line-Generating Obstacle Detecting Method (LGODM) for path planning of mobile robot in complex environments with the support of certainty grids map which can be upbuilt by SLAM (Simultaneous Localization and Mapping). The LGODM can be applied to obstacles with any shape of it's outline. By this means, the local optimum problem is well resolved, also the mission of global path planning is decomposed into a series of phasic sub mission in real-time way during the running of mobile robot. In our research, Uni-Vector field tracking controller is applied to robot. The effectiveness and elegance of the LGODM is demonstrated by simulation studies. A number of test cases are presented, each shows a stable, smooth, reasonable and no oscillating path to the destination of mobile robot.
会议录	2007 IEEE INTERNATIONAL CONFERENCE ON INTEGRATION TECHNOLOGY, PROCEEDINGS
会议录出版者	IEEE
会议录出版地	345 E 47TH ST, NEW YORK, NY 10017 USA
语种	英语
WOS研究方向	Automation & Control Systems ; Computer Science ; Engineering ; Mathematical & Computational Biology ; Robotics
WOS记录号	WOS:000250362300107
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/38075]
专题	电气工程与信息工程学院教务处（创新创业学院）
通讯作者	Li, Jigong
作者单位	Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Peoples R China
推荐引用方式 GB/T 7714	Li, Jigong,Feng, Yiwei,Guo, Ge. Real-time path planning based on certainty grids map in complex environments[C]. 见:.