An indoor path planning and motion planning
文献类型：会议论文
| 作者 | Wenjie Dong; Xiaozhi Qi; Zhixian Chen; Chao Song; Xiaojun Yang |
| 出版日期 | 2017 |
| 会议地点 | 中国澳门 |
| 英文摘要 | With the continuous development of robot technology, robots’ tasks and environment is becomes more and more complex. And the Mobile Service Robot’s need stronger motion planning ability to deal with the uncertainty and dynamic. In this paper, path planning and motion planning of mobile robot in the indoor environment with uncertain pedestrian flows are studied. A dedicated planner including velocity planning layer and direction planning layer based on the pedestrian tracking and observation is designed, then the effective solving method for the planner is studied based on POMDP to calculate the robot linear moving speed and steering angle. What’s more, we improve the quality of the output path algorithm, based on the artificial potential field and the A* algorithm. Therefore, the robots can learn from previous experience of path planning by itself to avoid the path which has relatively poor performance, and optimize the motion planning on this basis. Eventually, the robot’s adaptability and security in indoor dynamic environment is improved. |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11801]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2017 |
| 推荐引用方式 GB/T 7714 | Wenjie Dong,Xiaozhi Qi,Zhixian Chen,et al. An indoor path planning and motion planning[C]. 见:. 中国澳门. |
入库方式： OAI收割
来源：深圳先进技术研究院
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