Research of Autonomous Mobile Robot Path Planning in Unknown Complex Environment
[1]ZHAO Kai-xin,WANG Dong-shu.Research of Autonomous Mobile Robot Path Planning in Unknown Complex Environment[J].Journal of Zhengzhou University (Engineering Science),2013,34(05):74-79.[doi:10.3969/j.issn.1671-6833.2013.05.016]
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Journal of Zhengzhou University (Engineering Science)[ISSN
1671-6833/CN
41-1339/T] Volume:
34
Number of periods:
2013 05
Page number:
74-79
Column:
Public date:
2013-09-10
- Title:
- Research of Autonomous Mobile Robot Path Planning in Unknown Complex Environment
- Keywords:
- Autonomous Robot; Path Planning; Energy Consumed; Digital Height Map; Digital GradientMap; Attitude Stability
- CLC:
- TP242
- Abstract:
- Suitable path planning is a precondition of the autonomous robot exploration in outdoor unknowncomplex environments. The conventional path planning methods focus particularly on planning an un - colli-ding path from the start position to the goal position.Robot attitude stability and its dynamics are seldom con-sidered. A new path planning approach considering the robot ’s attitude stability and energy consumed in out-door complex environment is proposed,which consists of three steps: ( 1 ) gradient calculation,the gradientsof the rough terrain are calculated;(2) nodes detection,the terrain is divided into flat regions and rough re-gions according to a height threshold;(3 ) path evaluation，the optimal path from current position to goal viaintermediate nodes is planned based on the cost evaluation function. Furthermore,robot dynamic characteris-tics are analyzed through back - stepping control, suitable control law is proposed which ensures the stable mo-tion of robot. Compared with the conventional approach,the effectiveness of the proposed method is demon-strated through simulations.
- References:
- -
- Similar References:
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Last Update:
1900-01-01