A novel navigation scheme in dynamic environment using layered costmap
文献类型：会议论文
| 作者 | Han XN(韩小宁) ; Leng YQ(冷雨泉); Luo HT(骆海涛)
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| 出版日期 | 2017 |
| 会议日期 | May 28-30, 2017 |
| 会议地点 | Chongqing, China |
| 关键词 | Dynamic Navigation Layered Costmap Automobile Robots Path Planning |
| 页码 | 7123-7128 |
| 英文摘要 | Navigation is one of basic functions of auto-mobile robots. After dozens of years of development, now the navigation in static environment almost has been realized, taking the method in ROS (i.e. Robot Operation System) navigation stack as an example. However, when cruising in dynamic environment, there are more difficulties, as the objects in the environment can change their positions. To deal with such cases, we propose a scheme to navigate using layered costmap. By predicting the dynamic object's encounter position according to both its and the robot's kinematic information, and put it in another layer, and set different costs around the objects according the estimation of the motion of them, then path based on the layered costmaps can be planned. In this paper, the safety and efficiency of our scheme have been proven by the results of simulation. |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 1948-9439 |
| ISBN号 | 978-1-5090-4656-0 |
| WOS记录号 | WOS:000427082202094 |
| 源URL | [http://ir.sia.cn/handle/173321/20870]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Han XN(韩小宁) |
| 作者单位 | State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China |
| 推荐引用方式 GB/T 7714 | Han XN,Leng YQ,Luo HT. A novel navigation scheme in dynamic environment using layered costmap[C]. 见:. Chongqing, China. May 28-30, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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