Located of Chamber Mobile Robot Based on the Laser Radar and the Grid of Path Planning

摘要：

Using Laser radar as external sensors,we study map of the indoor environment for mobile robot positioning of the known cases.According to positioning system of characteristics,a system model and observation model is established which fuses multi-sensor information by Kalman filter.Then studying the grid method for mobile robot path planning problem through the proposed method,we first get a sub-optimal shortest path.On this basis,the shortest collision path is obtained by decreasing the length of geometrical.

关键词： mobile robot Mar Kalman filter grid method path planning

作者: Shigang Cui Xudong He Li Zhao Li Yang

作者单位: Tianjin Keylabratory of Informational Sensing & Intelligent Control Tianjin University of Technology and Education Tianjin,China

会议类型: 国际会议

会议名称: 2010 4th International Conference on Intelligent Information Techonlogy Application(第四届智能信息技术应用国际学术研讨会 IITA 2010)

会议地点: 秦皇岛

会议语种:英文

页码: 209-212

在线出版日期: 2010-11-05（万方平台首次上网日期，不代表论文的发表时间）