{"title":"智能移动机器人的导航与制导","authors":"H. Hu, D. Gu, M. Brady","doi":"10.1109/EURBOT.1997.633597","DOIUrl":null,"url":null,"abstract":"This paper presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. A sensor-based autonomous navigation architecture for a dynamically changing environment is described. Emphasis is placed on two important issues: autonomous navigation and smooth guidance of the robot. Several trajectory models are adopted to generate continuous-curvature paths in order to cope with the nonholonomic constraint of the robot and unexpected obstacles. A smooth guidance algorithm has been used to track the planned path. Experimental results demonstrate its performance.","PeriodicalId":129683,"journal":{"name":"Proceedings Second EUROMICRO Workshop on Advanced Mobile Robots","volume":"42 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-10-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"17","resultStr":"{\"title\":\"Navigation and guidance of an intelligent mobile robot\",\"authors\":\"H. Hu, D. Gu, M. Brady\",\"doi\":\"10.1109/EURBOT.1997.633597\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. A sensor-based autonomous navigation architecture for a dynamically changing environment is described. Emphasis is placed on two important issues: autonomous navigation and smooth guidance of the robot. Several trajectory models are adopted to generate continuous-curvature paths in order to cope with the nonholonomic constraint of the robot and unexpected obstacles. A smooth guidance algorithm has been used to track the planned path. Experimental results demonstrate its performance.\",\"PeriodicalId\":129683,\"journal\":{\"name\":\"Proceedings Second EUROMICRO Workshop on Advanced Mobile Robots\",\"volume\":\"42 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-10-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"17\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings Second EUROMICRO Workshop on Advanced Mobile Robots\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/EURBOT.1997.633597\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings Second EUROMICRO Workshop on Advanced Mobile Robots","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/EURBOT.1997.633597","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Navigation and guidance of an intelligent mobile robot
This paper presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. A sensor-based autonomous navigation architecture for a dynamically changing environment is described. Emphasis is placed on two important issues: autonomous navigation and smooth guidance of the robot. Several trajectory models are adopted to generate continuous-curvature paths in order to cope with the nonholonomic constraint of the robot and unexpected obstacles. A smooth guidance algorithm has been used to track the planned path. Experimental results demonstrate its performance.
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