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.
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.
基金
National Natural Science Foundations of China (No. 90820304,No. 61075027)
