Boundary Gap Based Reactive Navigation in Unknown Environments
文献类型：期刊论文
| 作者 | Zhao Gao; Jiahu Qin; Shuai Wang ; Yaonan Wang
|
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2021 |
| 卷号 | 8期号:2页码:468-477 |
| 关键词 | Boundary gap local minima reactive navigation unknown environments |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2021.1003841 |
| 英文摘要 | Due to the requirements for mobile robots to search or rescue in unknown environments, reactive navigation which plays an essential role in these applications has attracted increasing interest. However, most existing reactive methods are vulnerable to local minima in the absence of prior knowledge about the environment. This paper aims to address the local minimum problem by employing the proposed boundary gap (BG) based reactive navigation method. Specifically, the narrowest gap extraction algorithm (NGEA) is proposed to eliminate the improper gaps. Meanwhile, we present a new concept called boundary gap which enables the robot to follow the obstacle boundary and then get rid of local minima. Moreover, in order to enhance the smoothness of generated trajectories, we take the robot dynamics into consideration by using the modified dynamic window approach (DWA). Simulation and experimental results show the superiority of our method in avoiding local minima and improving the smoothness. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/43925]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Zhao Gao,Jiahu Qin,Shuai Wang,et al. Boundary Gap Based Reactive Navigation in Unknown Environments[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(2):468-477. |
| APA | Zhao Gao,Jiahu Qin,Shuai Wang,&Yaonan Wang.(2021).Boundary Gap Based Reactive Navigation in Unknown Environments.IEEE/CAA Journal of Automatica Sinica,8(2),468-477. |
| MLA | Zhao Gao,et al."Boundary Gap Based Reactive Navigation in Unknown Environments".IEEE/CAA Journal of Automatica Sinica 8.2(2021):468-477. |
入库方式： OAI收割
来源：自动化研究所
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