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A novel navigation scheme in dynamic environment using layered costmap
Han XN(韩小宁); Leng YQ(冷雨泉); Luo HT(骆海涛); Zhou WJ(周维佳)
作者部门空间自动化技术研究室
会议名称29th Chinese Control and Decision Conference, CCDC 2017
会议日期May 28-30, 2017
会议地点Chongqing, China
会议录名称Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
出版者IEEE
出版地New York
2017
页码7123-7128
收录类别EI ; CPCI(ISTP)
EI收录号20173504089658
WOS记录号WOS:000427082202094
产权排序1
ISSN号1948-9439
ISBN号978-1-5090-4656-0
关键词Dynamic Navigation Layered Costmap Automobile Robots Path Planning
摘要Navigation is one of basic functions of auto-mobile robots. After dozens of years of development, now the navigation in static environment almost has been realized, taking the method in ROS (i.e. Robot Operation System) navigation stack as an example. However, when cruising in dynamic environment, there are more difficulties, as the objects in the environment can change their positions. To deal with such cases, we propose a scheme to navigate using layered costmap. By predicting the dynamic object's encounter position according to both its and the robot's kinematic information, and put it in another layer, and set different costs around the objects according the estimation of the motion of them, then path based on the layered costmaps can be planned. In this paper, the safety and efficiency of our scheme have been proven by the results of simulation.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20870
专题空间自动化技术研究室
通讯作者Han XN(韩小宁)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
推荐引用方式
GB/T 7714
Han XN,Leng YQ,Luo HT,et al. A novel navigation scheme in dynamic environment using layered costmap[C]. New York:IEEE,2017:7123-7128.
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