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首页> 外文会议>Intelligent robots and computer vision XXXI: algorithms and techniques >An Effective Trace-Guided Wave-front Navigation and Map Building Approach for Autonomous Mobile Robots
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An Effective Trace-Guided Wave-front Navigation and Map Building Approach for Autonomous Mobile Robots

机译：自主移动机器人的有效跟踪波前导航和地图构建方法

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摘要

This paper aims to address a trace-guided real-time navigation and map building approach of an autonomous mobile robot. Wave-front based global path planner is developed to generate a global trajectory for an autonomous mobile robot. Modified Vector Field Histogram (M-VFH) is employed based on the LIDAR sensor information to guide the robot locally to be autonomously traversed with obstacle avoidance by following traces provided by the global path planner. A local map composed of square grids is created through the local navigator while the robot traverses with limited LIDAR sensory information. From the measured sensory information, a map of the robot's immediate limited surroundings is dynamically built for the robot navigation. The real-time wave-front based navigation and map building methodology has been successfully demonstrated in a Player/Stage simulation environment. With the wave-front-based global path planner and M-VFH local navigator, a safe, short, and reasonable trajectory is successfully planned in a majority of situations without any templates, without explicitly optimizing any global cost functions, and without any learning procedures. Its effectiveness, feasibility, efficiency and simplicity of the proposed real-time navigation and map building of an autonomous mobile robot have been successfully validated by simulation and comparison studies. Comparison studies of the proposed approach with the other path planning approaches demonstrate that the proposed method is capable of planning more reasonable and shorter collision-free trajectories autonomously.
机译：本文旨在解决自主移动机器人的跟踪导航实时导航和地图构建方法。基于波前的全局路径规划器被开发来为自主移动机器人生成全局轨迹。基于LIDAR传感器信息，采用了改进的矢量场直方图（M-VFH），通过遵循全局路径规划器提供的轨迹来引导机器人本地自动避开障碍物。当机器人以有限的LIDAR感官信息行进时，将通过本地导航器创建由正方形网格组成的本地地图。根据测得的感官信息，可以动态构建机器人即时受限环境的地图，以进行机器人导航。基于实时波前的导航和地图构建方法已在Player / Stage模拟环境中成功演示。使用基于波前的全局路径规划器和M-VFH本地导航器，可以在大多数情况下成功地规划安全，短而合理的轨迹，而无需任何模板，无需显式优化任何全局成本函数，也无需任何学习程序。仿真和比较研究已成功验证了所提出的自主移动机器人实时导航和地图构建的有效性，可行性，效率和简便性。该方法与其他路径规划方法的比较研究表明，该方法能够自主规划更合理，更短的无碰撞轨迹。

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