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个人信息Personal Information
教授
博士生导师
硕士生导师
主要任职：Vice Dean of School of Control Science and Engineering
性别：男
毕业院校：大连理工大学
学位：博士
所在单位：控制科学与工程学院
学科：模式识别与智能系统. 控制理论与控制工程. 导航、制导与控制
办公地点：大连理工大学 创新园大厦 A611室
联系方式：办公电话：0411-84707581
电子邮箱：zhuang@dlut.edu.cn
MOBILE ROBOT HYBRID PATH PLANNING IN AN OBSTACLE-CLUTTERED ENVIRONMENT BASED ON STEERING CONTROL AND IMPROVED DISTANCE PROPAGATING
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论文类型：期刊论文
发表时间：2012-06-01
发表刊物：INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL
收录刊物：SCIE、EI、Scopus
卷号：8
期号：6
页面范围：4095-4109
ISSN号：1349-4198
关键字：Local steering control; Improved distance propagating; Hybrid path planning; Mobile robot
摘要：Real-time path planning serves as an essential task for mobile robots to work within a partially known and cluttered environment. According to the real-time laser scanning data, a hybrid path planner is proposed in this paper to integrate quick obstacle avoidance and global optimization effectively. For local cluttered and dynamic scenes, mobile robot can reliably avoid the unknown obstacles based on local steering angle and velocity control law. For large-scale indoor scene with prior structured information, grid point sequence can be used to represent the global workspace, and therefore a global path planner based on improved distance propagating method can generate a series of sub-goal-points to the target, which guides mobile robot's local path planning in a more optimal way. Experiment results in the cluttered indoor environments show the method's effectiveness and practicability.