文献类型： 外文期刊

作者： Qiu Quan ¹ ; Han JianDa ² ;

作者机构： 1.Beijing Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China

2.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China

3.Natl Res Ctr Intelligent Agr Equipment, Beijing 100097, Peoples R China

关键词： robot;2.5-dimensional;outdoor;real-time;autonomous navigation

期刊名称：SCIENCE CHINA-INFORMATION SCIENCES （ 影响因子：4.38； 五年影响因子：2.923 ）

ISSN： 1674-733X

年卷期： 2011 年 54 卷 10 期

页码：

收录情况： SCI

摘要： A new real-time algorithm for the autonomous navigation of mobile robots equipped with laser scanners is proposed in this paper. Different from the existing algorithms designed for 2-dimensional navigation problems, the new algorithm introduces the height information of the obstacles into the guidance process and behaves as a 2.5-dimensional angle potential field algorithm (2.5D-APF) to fulfill the navigation requirements under complex outdoor terrain conditions. First, one laser scan is partitioned into two kinds of function sectors: guidance sector and inspecting sector. Then, the guidance sector and the inspecting sectors are reconstructed to form a virtual guidance scan, where the 2.5D information is taken into account. Finally, the conventional APF is improved to analyze the virtual guidance scan and generate the navigation orders. The new algorithm is tested on a tracked mobile robot, and the experimental results validate the proposed algorithm.