Hybrid path planning for nonholonomic mobile robot based on steering control and improved distance propagating
文献类型：会议论文
| 作者 | Zhuang Y(庄严); Liu YS(刘一莎); Wang W(王伟) ; Zhan, Ziti
|
| 出版日期 | 2010 |
| 会议名称 | 2010 International Conference on Modelling, Identification and Control, ICMIC 2010 |
| 会议日期 | July 17-19, 2010 |
| 会议地点 | Okayama, Japan |
| 页码 | 704-709 |
| 通讯作者 | 庄严 |
| 中文摘要 | A hybrid path planner combining global optimization and quick obstacle avoidance is proposed for nonholonomic mobile robot path planning in partially known environments. This method can not only effectively plan a global optimal path using the prior environment information, but also quickly avoid the unknown obstacles based on the laser scanning. Using grid point sequence to represent the workspace, a global path planner based on the improved distance propagating method can generate a series of sub-goal-points to the target which are far from the obstacles. According to the information of the laser scanning, the steering control method is used as the local path planner to implement real-time obstacle avoidance. Experiment results in the clustered indoor scenes show the method's effectiveness and practicability. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | 2010 International Conference on Modelling, Identification and Control, ICMIC 2010
 |
| 会议录出版者 | Association for Computing Machinery |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-0-9555293-3-7 |
| 源URL | [http://ir.sia.cn/handle/173321/20060]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhuang Y,Liu YS,Wang W,et al. Hybrid path planning for nonholonomic mobile robot based on steering control and improved distance propagating[C]. 见:2010 International Conference on Modelling, Identification and Control, ICMIC 2010. Okayama, Japan. July 17-19, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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