Autonomous Indoor Exploration of Mobile Robots based on Door-Guidance and Improved Dynamic Window Approach

摘要：

A two-layer navigation architecture for autonomous indoor exploration is proposed. As doors in the indoor environments are ubiquitous and informative for navigation, the high-level layer uses a stereo vision based algorithm to detect doors in order to generate a series of goal points. The low-level layer makes the robot avoid obstacles and navigate to the goal points by an improved dynamic window approach (DWA). This approach can solve the local-minima problem of DWA and can obtain smooth motion controls. The combination of high-level door-guidance and low-level goal-directed navigation enables the robot to make a door-to-door exploration. The proposed architecture was implemented on a Pioneer3 robot. Experiments show that the door detection algorithm and the improved DWA work reliably under various environments, and the robot can efficiently fulfill the task of autonomous indoor exploration.

作者: Haiqiang Zhang Lihua Dou Hao Fang Jie Chen

作者单位: School of Automation,Beijing Institute of Technology,Beijing 100081,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 408-413

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）