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Path Planning Approach Based on Dual Laser Radar Fusion
  • ISSN号：1002-3208
  • 期刊名称：《北京生物医学工程》
  • 时间：0
  • 分类：TP242[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构：[1]State Key Laboratory of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China
  • 相关基金：Foundation items： National Natural Science Foundations of China（No. 90820304, No. 61075027）
作者： 褚涛[1], 孙富春[1], 孟丽霞[1]
中文摘要：

A dual laser radar based path planning method for mobile robot in general outdoor road environment is proposed. Firstly, the point-wise sequence and target library of the global optimal path are generated based on algorithm A*. Secondly, the local target information and the perceptive information from dual laser radar are combined, and the different field information from both horizontal and aslant fixed laser radars is fused. Finally, the optimal driving angle is computed by the improved angle potential field(APF)algorithm. The practical experiment results validate the robustness and timeliness of the proposed approach.

英文摘要：

A dual laser radar based path planning method for mobile robot in general outdoor road environment is proposed. Firstly, the point-wise sequence and target library of the global optimal path are generated based on algorithm A ＊. Secondly, the local target information and the perceptive information from dual laser radar are combined, and the different field information from both horizontal and aslant fixed laser radars is fused. Finally, the optimal driving angle is computed by the improved angle potential field （APF） algorithm. The practical experiment results validate the robustness and timeliness of the proposed approach.

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期刊信息
  • 《北京生物医学工程》
  • 中国科技核心期刊
  • 主管单位:北京市卫生和计划生育委员会
  • 主办单位:北京市生物医学工程学会 北京市心肺血管疾病研究所
  • 主编：孙衍庆
  • 地址：北京安定门外安贞医院北京生物医学工程编辑部
  • 邮编：100029
  • 邮箱：LLBL910219@126.com
  • 电话：010-64456508
  • 国际标准刊号：ISSN：1002-3208
  • 国内统一刊号：ISSN：11-2261/R
  • 邮发代号:82-885
  • 获奖情况:
  • 国内外数据库收录:
  • 被引量:5449