Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning

doi:10.1108/AA-02-2018-029

CORC > 金属研究所 > 中国科学院金属研究所

	Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning
	Yang, Qifeng 1,3,4; Qu, Daokui 1,3,4; Xu, Fang 1,3,4; Zou, Fengshan 4; He, Guojian 2; Sun, Mingze 4
刊名	ASSEMBLY AUTOMATION
	2019-08-05
卷号	39 期号:3 页码:469-478
关键词	Motion control Mobile robot 3D laser scanning Autonomous navigation GPS-Denied outdoor environment
ISSN号	0144-5154
DOI	10.1108/AA-02-2018-029
通讯作者	Yang, Qifeng(yangqifeng@siasun.com)
英文摘要	Purpose This paper aims to propose a series of approaches to solve the problem of the mobile robot motion control and autonomous navigation in large-scale outdoor GPS-denied environments. Design/methodology/approach Based on the model of mobile robot with two driving wheels, a controller is designed and tested in obstacle-cluttered scenes in this paper. By using the priori "topology-geometry" map constructed based on the odometer data and the online matching algorithm of 3D-laser scanning points, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot's autonomous navigation and control. Findings A series of experiments are conducted with a self-designed mobile robot platform in large-scale outdoor environments, and the experimental results show the validity and effectiveness of the proposed approach. Originality/value The problem of motion control for a differential drive mobile robot is investigated in this paper first. At the same time, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot's autonomous navigation and control.
资助项目	National Natural Science Foundation of China[U1608253]
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	EMERALD GROUP PUBLISHING LTD
WOS记录号	WOS:000482432000009
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.imr.ac.cn/handle/321006/135193]
专题	金属研究所_中国科学院金属研究所
通讯作者	Yang, Qifeng
作者单位	1.Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Liaoning, Peoples R China 2.Dalian Univ Technol, Sch Control Sci & Engn, Dalian, Peoples R China 3.Univ Chinese Acad Sci, Beijing, Peoples R China 4.Shenyang SIASUN Robot & Automat Co Ltd, Shenyang, Liaoning, Peoples R China
推荐引用方式 GB/T 7714	Yang, Qifeng,Qu, Daokui,Xu, Fang,et al. Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning[J]. ASSEMBLY AUTOMATION,2019,39(3):469-478.
APA	Yang, Qifeng,Qu, Daokui,Xu, Fang,Zou, Fengshan,He, Guojian,&Sun, Mingze.(2019).Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning.ASSEMBLY AUTOMATION,39(3),469-478.
MLA	Yang, Qifeng,et al."Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning".ASSEMBLY AUTOMATION 39.3(2019):469-478.