Mobile Robot Exploration Based on Rapidly-exploring Random Trees and Dynamic Window Approach
文献类型：会议论文
| 作者 | Zeng TP(曾太平)1,2,3,4 ; Si BL(斯白露)2
|
| 出版日期 | 2019 |
| 会议日期 | April 19-22, 2019 |
| 会议地点 | Beijing, China |
| 关键词 | mobile robots autonomous exploration pointclouds motion planning rapidly-exploring random tree dynamicwindow approach |
| 页码 | 51-57 |
| 英文摘要 | Exploration is a critical function for autonomous mobile robots. Traditionally, the entire map has to be processed to extract frontiers and perform path planning. However, as the robot explores the environment, the map grows over time, and increasing computational resources are required, especially for large-scale environments. Moreover, only a few methods focus on the exploration on point cloud maps. Here, I present a new practical method to autonomous mobile robot exploration based on a sparse, relatively small-size point cloud local map, which combines Rapidly-exploring Random Tree (RRT) and dynamic window approach (DWA) algorithm together. The local map is built from the consecutive inputs of raw point clouds using an inexpensive 3D sensor, i.e. Kinect V2. Frontiers are effectively detected and local path planning is performed by RRT algorithm directly on unordered point cloud local maps. Motion planning is performed online by DWA to avoid obstacles and direct a nonholonomic mobile robot towards frontiers separating known environments from unknown environments. Embedded with simultaneous localization and mapping (SLAM) system of my previous research, the performance of the proposed method is evaluated in a large-scale customized virtual environment with a size of 33 × 29 × 6 mathrm{m} using Gazebo as the robotic simulator. The results suggest that the proposed algorithm can accurately direct the nonholonomic mobile robot to unexplored environments in real time. Also, it successfully helps build a coherent semi-metric topological map. The proposed algorithm shows great efficient performance and is suitable for both static and dynamic environments. Combination of RRT and DWA algorithm on point clouds, as a general approach, can be extended to generic 3D nonplanar physical environments. Videos of the experiments can be found at https://youtu.be/0i766fhs9Ds. |
| 产权排序 | 1 |
| 会议录 | 2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-3326-3 |
| WOS记录号 | WOS:000589413000010 |
| 源URL | [http://ir.sia.cn/handle/173321/25642]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Zeng TP(曾太平) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.School of Systems Science, Beijing Normal University, Beijing 100049, China 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Zeng TP,Si BL. Mobile Robot Exploration Based on Rapidly-exploring Random Trees and Dynamic Window Approach[C]. 见:. Beijing, China. April 19-22, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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