THE MOBILE ROBOT NAVIGATION IN DYNAMIC ENVIRONMENT

摘要：

Mobile robots often operate in dynamic environment, such as an exploratory robot or one that must move to a goal location without the benefit of a floorplan or terrain map.In this case, the robot needs to be able to replan quickly as the knowledge of the environment changes.The process of robot navigation in dynamic environment mainly includes three steps: first translate the configuration space that the robot and obstacles exist in into 2D Cartesian Grid by Quadtree method; second design the sub-goals given the global map, start and goal points by A* Algorithm; last replan the path between two adjacent sub-goals by improved D* Lite Algorithm when the environment changes.It is able to replan faster than planning from scratch since it modifies its previous search results locally and enables robots adapt to the dynamic environment The simulation results that are reported show that the mobile robot navigation method is efficient and feasible.

关键词： Mobile robot Navigation Dynamic window Path planning Replanning

作者: LU XU LI-CUO ZHANG DE-GANG CHEN YAGN-ZHOU CHEN

作者单位: Autonomous Navigation Center, Beijing University of Technology, Beijing 100022, China Department of computing, North China Electric Power University, Beijing 100022, China

会议类型: 国际会议

会议名称: 2007 International Conference on Machine Learning and Cybernetics(IEEE第六届机器学习与控制论国际会议)

会议地点: 香港

会议语种:英文

页码: 566-571

在线出版日期: 2007-08-19（万方平台首次上网日期，不代表论文的发表时间）