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首页> 外文期刊>IEEE Transactions on Vehicular Technology >Path Planning and Control of Mobile Robot in Road Environments Using Sensor Fusion and Active Force Control
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Path Planning and Control of Mobile Robot in Road Environments Using Sensor Fusion and Active Force Control

机译：使用传感器融合和主动力控制的道路环境中移动机器人的路径规划和控制

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摘要

A path planning and control approach of a non-holonomic three-wheeled mobile robot (WMR) for online navigation in road following and roundabout environments is presented in this paper. We proposed a complete navigation algorithm that enables the WMR to autonomously navigate on the road with various scenarios. With such an algorithm, the robot is able to localize itself within the road environment and find a collision free-path starting from a pre-defined start position to a goal point using a novel approach called laser simulator (LS). The path planning and roundabout detection are determined based on LS and sensor fusion of a laser range finder, camera, and odometry measurements. The sensor fusion algorithm is used to remove noises and uncertainties from sensors' data and provide optimum measurements for path planning. A robot motion control scheme is used for the purpose of controlling the kinematic parameters of WMR using a resolved acceleration control coupled with an active force control for rejecting the disturbances. Experimental results show the capability of the proposed algorithms to robustly drive the robot on the road following and roundabout environments.
机译：本文提出了一种非完整的三轮移动机器人（WMR）的路径规划和控制方法，该机器人用于在道路跟踪和环行环境中进行在线导航。我们提出了一种完整的导航算法，使WMR能够在各种情况下在道路上自主导航。通过这种算法，机器人能够使用一种称为激光模拟器（LS）的新颖方法，将自己定位在道路环境中，并找到从预定起始位置到目标点的无碰撞路径。路径规划和回旋检测是基于LS和激光测距仪，相机和里程计测量的传感器融合来确定的。传感器融合算法用于去除传感器数据中的噪声和不确定性，并为路径规划提供最佳测量结果。机器人运动控制方案用于控制WMR的运动学参数，它使用解析的加速度控制与主动力控制相结合来消除干扰。实验结果表明，所提出的算法能够在道路跟踪和回旋环境中稳健地驱动机器人。

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