Path Planning of Autonomous Robot Considering Attitude Stability in Unknown Environment
[1]WANG Dongshu,ZHU Xunlin.Path Planning of Autonomous Robot Considering Attitude Stability in Unknown Environment[J].Journal of Zhengzhou University (Engineering Science),2014,35(05):31-35.[doi:10.3969/j.issn.1671-6833.2014.05.008]
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Journal of Zhengzhou University (Engineering Science)[ISSN
1671-6833/CN
41-1339/T] Volume:
35
Number of periods:
2014 05
Page number:
31-35
Column:
Public date:
2014-09-30
- Title:
- Path Planning of Autonomous Robot Considering Attitude Stability in Unknown Environment
- Keywords:
- autonomous robot; path planning; energy consumed; digital height map; digital gradient map; atlitude stability
- CLC:
- TP242
- Abstract:
- Suitable path planning is precondition of autonomous robot exploration in unknown complex environ.ments. Traditional path planning methods focus partieularly on planning an un-eolliding path from the start po.sition to the goal and robot attitude stability is selom considered. A new path planning approach consideringrobot’s attitude stability and energy consumed in outdoor complex environment is proposed, which consists olthree steps; (1) gradient caleulation , gradients of the rough terrain are ealeulated: (2) node deteetion, terrain is divided into llat regions and rough regions aeeording to height threshold; central position of each lat re-gion is reeognized as the node; (3) path evaluation, the oplimal path from current position to destinationthrough intermediate nodes is planned based on the cost evaluation funelion. Compared with the conventionalapproach, the effectiveness of the proposed method is demonstrated through simulations.
- References:
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