Abstract:In order to solve the map-based large-scale space navigation problem of mobile robots,a navigation system is proposed which consists of three modules,including map editor,map matching and self-localization,and hierarchical planning. The map editor module takes charge of editing the navigation map,the map matching and self-localization module uses data from the odometer and laser scanner to realize robot self-localization based on matching between local and global maps,and the hierarchical planning module efficiently integrates such functions as global topological map-based planning,local grid map-based planning,and low-level behavior control.Experiments of indoor self-localization and navigation in a large-scale space are made to evaluate the validity and accuracy of the proposed system.
[1] 冯建农,柳明.自主移动机器人智能导航研究进展[J].机器人,1997,19(6):468-473.
[2] 张尧,陈卫东.一个基于全景视觉的移动机器人导航系统的设计与实现[J].机器人,2005,27(2):173-177.
[3] Cohen O,Edan Y.Adaptive fuzzy logic algorithm for grid-map based sensor fusion[A].Proceedings of the IEEE Intelligent Vehicles Symposium[C].Piseataway,NJ,USA:IEEE,2004.625 -630.
[4] Tomatis N,Nourbakhsh I,Siegwart R.Simultaneous localization and map building:A global topological model with local metric maps[A].Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Piscataway,NJ,USA:IEEE,2001..421 -426.
[5] Savelli F,Kuipers B.Loop-closing and planarity in topological map-building[A].Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Piscataway,NJ,USA:IEEE,2004.1511-1517.
[6] Jensfelt P,Kristensen S.Active global localization for a mobile robot using multiple hypothesis tracking[J].IEEE Transactions on Robotics and Automation,2001,17(5):748 -759.
[7] Altermatt M,Martinelli A,Tomatis N,et al.SLAM with corner features based on a relative map[A].Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Piscataway,NJ,USA:IEEE,2004.1053-1058.
[8] Fox D,Burgard W,Thrun S.Markov localization for mobile robots in dynamic environments[J].Journal of Artificial Intelligence Research,1999,11:391-427.
[9] Pathak K,Agrawal S K.An integrated path planning and control framework for nonholonomic unicycles[A].Proceedings of the 2005 IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,2005.4594-4599.
[10] Watanabe K,Izumi K.A survey of robotic control systems constructed by using evolutionary computations[A].Proceedings of 1999 IEEE International Conference on Systems,Man,and Cybernetics[C].Piscataway,NJ,USA:IEEE,1999.758-763.
[11] Russell S,Norvig P.Artificial Intelligence:A Modern Approach[M].NJ,USA:Pearson Education,Inc.,1995.96-101.
[12] Arkin R.C.Motor schema-based mobile robot navigation[J].The International Journal of Robotics Research,1987,8 (4):92 -112.
[13] 葛坤峰.基于激光雷达的移动机器人定位与导航技术[D].上海:上海交通大学,2006.