A Novel Dynamic Obstacle Avoidance Algorithm Based on Collision Time Histogram  

作　　者：ZHUGE Chengchen CAI Yunfei TANG Zhenmin 

机构地区：[1]School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing 210094, China

出　　处：《Chinese Journal of Electronics》2017年第3期522-529,共8页电子学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.61305134,No.61371040);Specialized Research Fund for the Doctoral Program of Higher Education(No.20133219120035);National Major Project of Core Electronic Devices,High-end Generic Chips and Basic Software(No.2015zx01041101);111 Project(No.B13022)

摘　　要：Robot path planning in uncertain dynamic environment is a hot issue in the field of Unmanned ground vehicle(UGV).Starting from the practical demands of UGV,we propose a novel dynamic obstacle avoidance algorithm based on Collision time histogram(CTH).Given current steering angle,an effective collision check model,which is called Collision check circles(CCC),is firstly calculated.The local environment information is then combined with CCC to generate the proposed CTH.The nonholonomic nature of the vehicle is embedded in this process.Finally,the proposed algorithm calculates the executing steering angle by considering both the CTH and the target point.Extensive experiments and comparisons are conducted to evaluate the performance of the proposed algorithm.Simulation experiments are firstly conducted to verify its feasibility.Furthermore,real-world experiment is conducted to verify its effectiveness.Experimental results demonstrate the practical value of the proposed algorithm.Robot path planning in uncertain dynamic environment is a hot issue in the field of Unmanned ground vehicle （UGV）. Starting from the practical demands of UGV, we propose a novel dynamic obstacle avoidance algorithm based on Collision time histogram （CTH）. Given current steering angle, an effective collision check model, which is called Collision check circles （CCC）, is firstly calculated. The local environment information is then combined with CCC to generate the proposed CTH. The non- holonomic nature of the vehicle is embedded in this process. Finally, the proposed algorithm calculates the executing steering angle by considering both the CTH and the target point. Extensive experiments and comparisons are conducted to evaluate the performance of the proposed algorithm. Simulation experiments are firstly conducted to verify its feasibility. Furthermore, real-world experiment is conducted to verify its effectiveness. Experimental results demonstrate the practical value of the proposed algorithm.

关 键 词：Unmanned ground vehicle Obstacle avoidance Collision time histogram Non-holonomic Collision check circles 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]