A NOVEL METHOD OF NAVIGATION AND OBSTACLE AVOIDANCE FOR MOBILE ROBOT IN GLOBAL UNKNOWN ENVIRONMENT
YE Tao1,2, CHEN Er-kui3, YANG Guo-sheng1, HOU Zeng-guang1, TAN Min1
1. Institute of Automation, Chinese Academy of Sciences, Beijing 100080; 2. National Engineering Research Center for Information Technology in Agriculture, Beijing 100089; 3. School of Information and Electrics Engineering, China University of Mining and Technology, Xuzhou 221008, China
叶涛, 陈尔奎, 杨国胜, 侯增广, 谭民. 全局环境未知时机器人导航和避障的一种新方法[J]. 机器人, 2003, 25(6): 516-520..
YE Tao, CHEN Er-kui, YANG Guo-sheng, HOU Zeng-guang, TAN Min. A NOVEL METHOD OF NAVIGATION AND OBSTACLE AVOIDANCE FOR MOBILE ROBOT IN GLOBAL UNKNOWN ENVIRONMENT. ROBOT, 2003, 25(6): 516-520..
Abstract：Real time navigation of mobile robot in globally unknown environment is studied. A new method for mobile robot's navigation is presented with the combination of describing environment based on grids and path planning based on rolling windows. The environment information detected by sonar is represented in the form of probability based on grids, and is fused by evidential reasoning with uncertainty based on Dempster-Shafer theory to describe the local environment around the mobile robot. And then, path planning based on rolling windows is implemented to realize real time navigation of mobile robot. Simulation and experiment results show that the method is effective.
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