Title :
A robust multistrategy unmanned ground vehicle navigation method using laser radar
Author :
Gong, Jianwei ; Duan, Yulin ; Liu, Kai ; Chen, Yongdan ; Xiong, Guangming ; Chen, Huiyan
Author_Institution :
Intell. Vehicle Res. Center, Beijing Inst. of Technol., Beijing, China
Abstract :
This article presents further developments of our earlier vector polar histogram method (VPH+) for unmanned ground vehicle (UGV) real-time obstacle avoidance and navigation in complicated unknown environments. Two other strategies, wall-following and move-to-goal are combined into the VPH+ method to overcome the local minimum problem. Meanwhile, a simple yet effective coordination mechanism that determines when to activate the corresponding strategy is carefully designed. The state memory and position prediction strategies are employed in the coordination mechanism to ensure that the corresponding strategy is evoked only at the appropriate moment. Contrastive simulation tests and real UGV vehicle tests confirmed that the proposed method is robust, stable, and efficient in complicated environments.
Keywords :
collision avoidance; mobile robots; navigation; optical radar; remotely operated vehicles; road vehicle radar; UGV vehicle tests; VPH+ method; coordination mechanism; laser radar; local minimum problem; move-to-goal; position prediction strategies; real-time obstacle avoidance; robust multistrategy unmanned ground vehicle navigation method; state memory; vector polar histogram method; wall-following; Cost function; Histograms; Intelligent vehicles; Land vehicles; Laser radar; Navigation; Robot kinematics; Robustness; Testing; Turning;
Conference_Titel :
Intelligent Vehicles Symposium, 2009 IEEE
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-3503-6
Electronic_ISBN :
1931-0587
DOI :
10.1109/IVS.2009.5164314