2.5-dimensional angle potential field algorithm for the real-time autonomous navigation of outdoor mobile robots  

作　　者：QIU Quan 1,3 & HAN JianDa 2 1 Beijing Research Center of Intelligent Equipment for Agriculture,Beijing 100097,China 2 State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China 3 National Research Center for Intelligent Agricultural Equipment,Beijing 100097,China 

出　　处：《Science China(Information Sciences)》2011年第10期2100-2112,共13页中国科学（信息科学）（英文版）

基　　金：supported by the National Natural Science Foundation of China (Grant No.60775056);the Special Projects on Innovation Capacity Building of Beijing Academy of Agriculture and Forestry Sciences(Grant No.KJCX201101014)

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-dimensionaI 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.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-dimensionaI 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.

关 键 词：ROBOT 2.5-dimensional OUTDOOR REAL-TIME autonomous navigation 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]