DocumentCode :
2535086
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
fYear :
2009
fDate :
3-5 June 2009
Firstpage :
417
Lastpage :
424
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;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Vehicles Symposium, 2009 IEEE
Conference_Location :
Xi´an
ISSN :
1931-0587
Print_ISBN :
978-1-4244-3503-6
Electronic_ISBN :
1931-0587
Type :
conf
DOI :
10.1109/IVS.2009.5164314
Filename :
5164314
Link To Document :
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