A Simple Local Navigation Method in Public Environment
A simple reactive local navigation method called secure passage method for mobile robots has been developed. Secure passage is defined as a rectangular obstacle-free zone in front of the robot whichs greater than the width of the robot. By means of a comprehensive estimation of the target position and the length of secure passage, an optimum passage is selected from the secure ones according to the surrounding information offered by laser radar, and the robot’s linear velocity and angular velocity are determined. This method takes into account the kinematic constraints of differential drive mobile robot, and shows a good real-time character, by which the robot can execute collision-free motion tasks. The results of experiments in different environments demonstrate that the proposed method is not only feasible but also valid.
secure passage obstacle avoidance navigation
Gao Qingji Zheng Zhaoying
Aeronautical Automation CollegeCivil Aviation University of ChinaTianjin, China School of Automation Engineering Northeast Dianli University Jilin, Jilin, China
国际会议
哈尔滨
英文
46-49
2011-01-18（万方平台首次上网日期，不代表论文的发表时间）