A novel obstacle avoidance and navigation method of outdoor mobile robot

被引：0
|
作者：
Li, YC [1 ]
He, KZ [1 ]
机构：
[1] Tsinghua Univ, State Key Lab Intelligent Technol & Syst, Beijing 100084, Peoples R China
来源：
2005 12TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS | 2005年
关键词：
angle potential field method; navigation; obstacle avoidance; outdoor mobile robot;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents a novel method for obstacle avoidance and navigation of outdoor mobile robot, in which, the 2-dimension obstacle information in the polar coordinate space of current view scene is transformed to the 1-dimension angle field. Repulsive forces produced by obstacles and attractive forces produced by the object location are estimated integratively to determine the pass function and the purpose angle. As thus, both the safety of the robot and the approach to the object location are considered. The method has been tested on our outdoor mobile robot THMR-V.
引用
收藏
页码：653 / 656
页数：4
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