APF Obstacle Avoidance in Polar Coordinates for Mobile Robot Based on Laser Radar

摘要：

In order to improve the safety and the reliability of mobile robot,a method for the path planning and the obstacle avoidance is provided based on distance information that laser radar offers.The method used the improved artificial potential field (APF) and set up the real-time variation polar coordinates,whose centre was the place that the laser radar installed in.In the polar coordinates,the robot-to-obstacle relative distance was measured,the direction and the speed of robot were adjusted to avoid obstacles.The simulation results show that this method based on the distance information that laser radar provides can make mobile robot avoid obstacle reliably.

关键词： laser radar path planning obstacle avoidance polar coordinates artificial potential field

作者: YU Zhiqiang GAO Meng DENG Xiaoyan DU Liqiang HE Chaofeng DI Jianhong YANG Yong SHI Yanhui HU Liqiang

作者单位: Shijiazhuang Railway Institute Shiiiazhuang 050043,Hebei Province,China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 549-552

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）