论文标题
在动态环境中快速适应性移动机器人导航
Fast Adaptable Mobile Robot Navigation in Dynamic Environment
论文作者
论文摘要
动态环境中的自主导航在很大程度上取决于环境及其拓扑。由于环境不断发展，对环境的先验知识通常不准确。由于机器人在继续进行环境的过程中不断评估环境，决定了遍历目标以实现目标的最佳方法，因此需要计算有效但数学自适应的导航算法。在本文中，提出了针对时间变体环境处理的移动机器人导航方案。这种方法由全球规划师（A*）和本地规划师（VFH）组成，以确保最佳且无碰撞的机器人运动。出于比较目的，该算法在已知导致VFH和ROS导航堆栈中发生故障的不同环境中的仿真和实验中进行了测试。总体而言，该算法使机器人能够更快地实现目标，并在这样做时产生更平滑的道路。
Autonomous navigation in dynamic environment heavily depends on the environment and its topology. Prior knowledge of the environment is not usually accurate as the environment keeps evolving in time. Since robot is continuously evaluating the environment as it proceeds, deciding the optimal way to traverse the environment to get to the goal, computationally efficient yet mathematically adaptive navigation algorithms are needed. In this paper, a navigation scheme for mobile robot, capable of dealing with time variant environment is proposed. This approach consists of a global planner (A*) and local planner (VFH) to assure an optimal and collision-free robot motion. The algorithm is tested both in simulation and experimentation in different environments that are known to result in failures in VFH and ROS navigation stack, for comparison purposes. Overall, the algorithm enables the robot to get to the goal faster and also produces a smoother path while doing so.
