Real-time Map Construction and Emergency Obstacle Avoidance Algorithm for Mobile Robot

被引：0

作者：

Cheng, Peng ^{[1
]}

Liu, Yong ^{[1
]}

Wang, Ke ^{[1
]}

机构：

[1] Nanjing Univ Sci & Technol, Sch Comp Sci & Engn, Nanjing 210094, Peoples R China

来源：

PROCEEDINGS OF THE 32ND 2020 CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2020) | 2020年

基金：

美国国家科学基金会;

关键词：

Real-time map; Reactive obstacle avoidance; APF; ND;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The decision-making frequency for traditional robotic autonomous systems is low and cannot fit the real-time problem of the underlying control system. Firstly, a method fusion of single line laser radar sensor data and ultrasonic data is proposed to construct a high-frequency real-time map of a mobile robot. Secondly, based on the real-time map, an obstacle avoidance algorithm combining artificial potential field (APF) method and nearness diagram navigation (ND) is used. Finally, the emergency obstacle avoidance effect of the mobile robot is simulated in the Gazebo dynamic simulator and the feasibility of real-time map construction and emergency obstacle avoidance of the mobile robot is verified through experiments. The experimental results show that the real-time map constructed can reflect the state of the robot's surroundings in real time and provide a reliable data basis for high-frequency obstacle avoidance planning. The obstacle avoidance algorithm used has a high frequency and smooth route planning, which can meet the real-time needs of the lower-level control system.

引用

页码：4873 / 4879

页数：7

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