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
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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:. |
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