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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
Department其他
Source PublicationAssembly Automation
ISSN0144-5154
2019
Volume39Issue:3Pages:469-478
Indexed BySCI ; EI
EI Accession number20184305981106
WOS IDWOS:000482432000009
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China (U1608253)
KeywordMotion control Mobile robot 3D laser scanning Autonomous navigation GPS-Denied outdoor environment
AbstractPurpose: 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.
Language英语
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/23403
Collection其他
Corresponding AuthorYang QF(杨奇峰)
Affiliation1.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
Recommended Citation
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,2019,39(3):469-478.
APA Yang QF,Qu DK,Xu F,Zou FS,He, Guojian,&Sun, Mingze.(2019).Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning.Assembly Automation,39(3),469-478.
MLA Yang QF,et al."Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning".Assembly Automation 39.3(2019):469-478.
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