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Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning
Yang QF(杨奇峰)1,2,3; Qu DK(曲道奎)1,2,3; Xu F(徐方)1,2,3; Zou FS(邹风山)3; He, Guojian4; Sun, Mingze3
作者部门其他
关键词Motion control Mobile robot 3D laser scanning Autonomous navigation GPS-Denied outdoor environment
发表期刊Assembly Automation
ISSN0144-5154
2018
页码1-10
收录类别EI
EI收录号20184305981106
产权排序1
资助机构National Natural Science Foundation of China (U1608253)
摘要Purpose: This paper aims to propose a series of approaches to solve the problem of the mobile robot motion control and autonomous navigation in large-scale outdoor GPS-denied environments. Design/methodology/approach: Based on the model of mobile robot with two driving wheels, a controller is designed and tested in obstacle-cluttered scenes in this paper. By using the priori “topology-geometry” map constructed based on the odometer data and the online matching algorithm of 3D-laser scanning points, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control. Findings: A series of experiments are conducted with a self-designed mobile robot platform in large-scale outdoor environments, and the experimental results show the validity and effectiveness of the proposed approach. Originality/value: The problem of motion control for a differential drive mobile robot is investigated in this paper first. At the same time, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/23403
专题其他
通讯作者Yang QF(杨奇峰)
作者单位1.University of Chinese Academy of Sciences, Beijing, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Shenyang SIASUN Robot and Automation Co., Ltd, Shenyang, China
4.School of Control Science and Engineering, Dalian University of Technology, Dalian, China
推荐引用方式
GB/T 7714
Yang QF,Qu DK,Xu F,et al. Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning[J]. Assembly Automation,2018:1-10.
APA Yang QF,Qu DK,Xu F,Zou FS,He, Guojian,&Sun, Mingze.(2018).Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning.Assembly Automation,1-10.
MLA Yang QF,et al."Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning".Assembly Automation (2018):1-10.
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