Obstacle Avoidance using Range Data in Autonomous Navigation of Mobile Robot
نویسندگان
چکیده
This paper describes the use of laser radars in autonomous navigation of a mobile robot. Merits and demerits of several kinds of laser radars are discussed first along with the principle of each laser radar’s operation. Then the Laser Measurement System (LMS) made by SICK is introduced, and its technical data is provided. The time-varying potential field algorithm is presented which is used to avoid obstacles. This algorithm is applied to data collected from the LMS. Example data will be shown. Some problems that are specific to this class of sensors are then described. These problems can significantly impact the quality of the range data and limit the use of the LMS. The LMS has been successfully tested on an outdoor mobile robot – the Tsinghua Mobile Robot V (THMR-V).
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تاریخ انتشار 2001