基于动态控制采样空间的AMR导航

2023 International Conference on Advances in Electronics, Control and Communication Systems (ICAECCS) Pub Date : 2023-03-06 DOI:10.1109/ICAECCS56710.2023.10104954

Sara Bouraine, Idriss Hasani, Alla Djoudi, Ahmed Gourine, Boualem Kazed

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引用次数: 0

摘要

研究了部分可观察动态环境下自主移动机器人的局部导航问题。这项工作的主要贡献是扩展了基于采样的方法来处理机器人和环境的动态约束，并集成了安全距离以使机器人远离碰撞。所开发的算法已在基于嵌入式架构的机器人操作系统的机器人平台上实现，并在室内环境中进行了测试和验证。

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AMR Navigation Based on Dynamic Control Sampling Space

This paper addresses the problem of local navigation for autonomous mobile robots in partially observable dynamic environments. The main contribution of this work is the expansion of a sampling based approach to deal with the robot and environment dynamic constraints and integrate a safety distance to keep the robot away from collisions. The developed algorithm has been implemented on a robotic platform with a Robot Operating System based embedded architecture, where it has been tested and validated in an indoor environment.

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来源期刊

2023 International Conference on Advances in Electronics, Control and Communication Systems (ICAECCS)

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