2.5-dimensional angle potential field algorithm for the real-time autonomous navigation of outdoor mobile robots
文献类型：期刊论文
| 作者 | Qiu Q(邱权); Han JD(韩建达)
|
| 刊名 | SCIENCE CHINA-INFORMATION SCIENCES
 |
| 出版日期 | 2011 |
| 卷号 | 54期号:10页码:2100-2112 |
| 关键词 | robot 2.5-dimensional outdoor real-time autonomous navigation |
| ISSN号 | 1674-733X |
| 产权排序 | 1 |
| 中文摘要 | A new real-time algorithm for the autonomous navigation of mobile robots equipped with laser scanners is proposed in this paper. Different from the existing algorithms designed for 2-dimensional navigation problems, the new algorithm introduces the height information of the obstacles into the guidance process and behaves as a 2.5-dimensional angle potential field algorithm (2.5D-APF) to fulfill the navigation requirements under complex outdoor terrain conditions. First, one laser scan is partitioned into two kinds of function sectors: guidance sector and inspecting sector. Then, the guidance sector and the inspecting sectors are reconstructed to form a virtual guidance scan, where the 2.5D information is taken into account. Finally, the conventional APF is improved to analyze the virtual guidance scan and generate the navigation orders. The new algorithm is tested on a tracked mobile robot, and the experimental results validate the proposed algorithm. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | OBSTACLE AVOIDANCE ; TERRAIN |
| 收录类别 | SCI |
| 资助信息 | The authors would like to thank Chunguang Bu, Jingli Lu and Fei Chang for their discussion and assistance in implementation. This work was supported by the National Natural Science Foundation of China (Grant No. 60775056), and the Special Projects on Innovation Capacity Building of Beijing Academy of Agriculture and Forestry Sciences(Grant No. KJCX201101014). |
| 语种 | 英语 |
| WOS记录号 | WOS:000297023300010 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7275]  |
| 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 | Qiu Q,Han JD. 2.5-dimensional angle potential field algorithm for the real-time autonomous navigation of outdoor mobile robots[J]. SCIENCE CHINA-INFORMATION SCIENCES,2011,54(10):2100-2112. |
| APA | Qiu Q,&Han JD.(2011).2.5-dimensional angle potential field algorithm for the real-time autonomous navigation of outdoor mobile robots.SCIENCE CHINA-INFORMATION SCIENCES,54(10),2100-2112. |
| MLA | Qiu Q,et al."2.5-dimensional angle potential field algorithm for the real-time autonomous navigation of outdoor mobile robots".SCIENCE CHINA-INFORMATION SCIENCES 54.10(2011):2100-2112. |
入库方式： OAI收割
来源：沈阳自动化研究所
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