A Path Planning Framework for Indoor Low-cost Mobile Robots

被引：0
|
作者：
Zuo, Sixiang [1 ,4 ]
Ou, Yongsheng [2 ,5 ]
Zhu, Xiaorui [3 ]
机构：
[1] Shenzhen Inst Adv Technol, Ctr Intelligent & Biomimet Syst, 1068 Xueyuan Ave, Shenzhen, Peoples R China
[2] Shenzhen Inst Adv Technol, CAS Key Lab Human Machine Intelligence Synergy Sy, 1068 Xueyuan Ave, Shenzhen, Peoples R China
[3] Harbin Inst Technol, HIT Campus Univ Town Shenzhen, Shenzhen, Peoples R China
[4] Chinese Acad Sci, Guangdong Prov Key Lab Robot & Intelligent Syst, Shenzhen Inst Adv Technol, Beijing, Peoples R China
[5] Chinese Univ Hong Kong, Hong Kong, Hong Kong, Peoples R China
来源：
2017 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (IEEE ICIA 2017) | 2017年
基金：
中国国家自然科学基金;
关键词：
Path planning; A-star algorithm; wall following; mobile robot; NAVIGATION;
D O I：
暂无
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper presents a path planning framework for low-cost mobile robots, which mainly includes three parts: map-processing, collision avoidance and wall following. We change the point cloud maps provided by SLAM to grid maps and filter redundant points in the map-processing procedure. An improved A-star based path planning method and the collision avoidance framework are proposed subsequently. Finally, we propose a local-map-based incremental wall following method without adding extra distance sensors. Experiment results validate the proposed framework on our indoor low-cost mobile robot platform.
引用
收藏
页码：18 / 23
页数：6
相关论文
共 50 条
  • [1] Low-cost Indoor Vision-Based Navigation for Mobile Robots
    Abdelaziz, Shaza I. Kaoud
    Noureldin, Aboelmagd
    Fotopoulos, Georgia
    [J]. PROCEEDINGS OF THE 33RD INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS+ 2020), 2020, : 2560 - 2568
  • [2] Localization System Using Artificial Landmarks for Indoor Low-Cost Mobile Robots
    Ignacio Zurita, Rafael
    Mora, Alejandro
    Alvarez, Candelaria
    Lechner, Miriam
    [J]. COMPUTER SCIENCE - CACIC 2019, 2020, 1184 : 321 - 331
  • [3] Hierarchical path planning of mobile robots in complex indoor environments
    Seder, Marija
    Mostarac, Petar
    Petrovic, Ivan
    [J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2011, 33 (3-4) : 332 - 358
  • [4] Detection and Tracking of Moving Objects for Indoor Mobile Robots with a Low-Cost Laser Scanner
    Liu, Tianyu
    Gu, Ye
    Sheng, Weihua
    Li, Yongqiang
    Ou, Yongsheng
    [J]. ARTIFICIAL INTELLIGENCE AND MOBILE SERVICES - AIMS 2018, 2018, 10970 : 243 - 250
  • [5] Towards a low-cost framework for Intelligent Robots
    Goncalves, P. J. S.
    Santos, F. M. S.
    Torres, P. M. B.
    [J]. 2014 SIXTH WORLD CONGRESS ON NATURE AND BIOLOGICALLY INSPIRED COMPUTING (NABIC), 2014, : 244 - 249
  • [6] HCTNav: A Path Planning Algorithm for Low-Cost Autonomous Robot Navigation in Indoor Environments
    Pala, Marco
    Osati Eraghi, Nafiseh
    Lopez-Colino, Fernando
    Sanchez, Alberto
    de Castro, Angel
    Garrido, Javier
    [J]. ISPRS INTERNATIONAL JOURNAL OF GEO-INFORMATION, 2013, 2 (03): : 729 - 748
  • [7] Development of an Accurate Low-cost Ultrasonic Localization System for Autonomous Mobile Robots in Indoor Environments
    Yong-hwi KIM
    Ui-kyu SONG
    Byung-kook KIM
    [J]. Journal of Measurement Science and Instrumentation, 2010, 1 (01) : 65 - 70
  • [8] A Cost-Aware Path Planning Algorithm for Mobile Robots
    Suh, Junghun
    Oh, Songhwai
    [J]. 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2012, : 4724 - 4729
  • [9] Low-cost GPS receivers in navigation of mobile robots
    Pazderski, D
    Dutkiewicz, P
    [J]. ROMOCO'02: PROCEEDINGS OF THE THIRD INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL, 2002, : 119 - 122
  • [10] On Some Low-Cost Tracking Controllers for Mobile Robots
    Precup, R. -E.
    Preitl, S.
    Szab, C.
    Korondi, P.
    Szemes, P.
    [J]. CONTROL AND INTELLIGENT SYSTEMS, 2005, 33 (01)
12345