Sensing Incline Terrain for Mobile Robot Autonomous Navigation Under Unknown Environment

摘要：

In order to correctly sense incline terrain, its geometrical calculated model is analyzed. Based on the change trend of distance between the mobile robot and slope, their relative position can be determined. Then a novel method which takes the use of the powerful nonlinearity approach capability of RBF network is introduced to estimate the slope of the terrain with respect to the robot’s current angular tilt. The experimental results show that the proposed approach can be used for mobile robot incline terrain perception and has the merits of easy, trustiness and robustness.

关键词： Mobile robot navigation Environment perception Incline terrain Unkown environment

作者: Jiang Zhu Yaonan Wang Hongshan Yu Wenge Wang Yaxing Wen

作者单位: College of Electric and Information Engineering Hunan university Changsha,Hunan Province,China

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）