基于实时地图构建的移动机器人导航与路径规划

2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02. Pub Date : 2002-12-11 DOI:10.1109/ICIT.2002.1189850

A. Fujimori, T. Murakoshi, Y. Ogawa

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引用次数: 8

摘要

提出了一种基于声纳的移动机器人在未知环境下实时局部地图绘制的导航技术。利用提出的局部地图构建和反应性避障行为构造了一种导航算法。获得的局部地图可用于构建和/或更新环境的全局地图。它用于为下一次运行规划理想的路径。在商用移动机器人Pioneer-1的导航实验中，与不建立地图的被动导航技术相比，建立的局部地图在多种环境下都是有效的导航技术，特别是在复杂环境下。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Navigation and path-planning of mobile robots with real-time map-building

This paper presents a navigation technique for a sonar-equipped mobile robot with real-time local map-building in unknown environments. A navigation algorithm is constructed with the proposed local map-building and reactive obstacle avoidance behaviors. The obtained local map could be used to build and/or update a global map of the environment. It is used to plan a desirable path for the next run. In navigation experiments using a commercial mobile robot named Pioneer-1, the built local map was effective for navigation in several environments compared to a reactive navigation technique without map-building, especially in complicated environments.

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来源期刊

2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02.

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