Navigating an autonomous mobile outdoor robot AMOR

doi:10.3778/j.issn.1002-8331.2008.22.062

Computer Engineering and Applications ›› 2008, Vol. 44 ›› Issue (22): 206-209.DOI: 10.3778/j.issn.1002-8331.2008.22.062

• 工程与应用 • Previous Articles Next Articles

Navigating an autonomous mobile outdoor robot AMOR

YANG Tang-wen¹,HAN Jian-da²,KUHNERT K D³

1.School of Computer and Information Technology，Beijing Jiaotong University，Beijing 100044，China
2.State Key Laboratory of Robotics，Shenyang Institute of Automation，Chinese Academy of Sciences，Shenyang 110016，China
3.Elektrotechnik und Informatik，Universitaet Siegen，Siegen 57068，Germany

Received:2008-01-08 Revised:2008-03-07 Online:2008-07-11 Published:2008-07-11
Contact: YANG Tang-wen

室外自主移动机器人AMOR的导航技术

杨唐文¹,韩建达²,KUHNERT K D³

1.北京交通大学计算机与信息技术学院，北京 100044
2.中国科学院沈阳自动化研究所机器人学国家重点实验室，沈阳 110016
3.德国锡根大学电气与计算机科学系，锡根 57068

通讯作者: 杨唐文

Abstract

Abstract: Motion planning is a very challenging issue of navigating a mobile outdoor robot，especially when it moves in unstructured environments.In this paper，based on grid maps updated in real time，a fast，suboptimal planning algorithm is proposed to implement collision-free navigation of an autonomous mobile outdoor robot AMOR，who is the winner of autonomous reconnaissance in the 2007 C-ELROB competition.The grid map is established with the obstacle information around the outdoor robot，mainly from the scanning data of a SICK laser finder.A new A* based searching algorithm provides a practically effective solution to the path planning problem.Reliable and safe navigation is achieved，and proved through urban and non-urban tests and competitions.

Key words: autonomous mobile outdoor robots, grid map, path planning, collision-free navigation

摘要： 在非结构化环境，移动机器人行驶运动规划和自主导航是非常挑战性的问题。基于实时的动态栅格地图，提出了一个快速的而又实效的轨迹规划算法，实现机器人在室外环境的无碰撞运动导航。AMOR是自主研发的室外运动移动机器人，它在2007年欧洲C-ELROB大赛中赢得了野外自主侦察比赛的冠军。它装备了SICK的激光雷达，用来获取机器人运动前方的障碍物体信息，建立实时动态的环境地图。以A*框架为基础的改造算法，能够在众多的路径中快速地找到最佳的安全行驶路径，实现可靠的自主导航。所有的测试和比赛结果表明所提方案是可行的、有效的。

关键词: 室外自主移动机器人, 栅格地图, 路径规划, 无碰撞导航

YANG Tang-wen¹,HAN Jian-da²,KUHNERT K D³. Navigating an autonomous mobile outdoor robot AMOR[J]. Computer Engineering and Applications, 2008, 44(22): 206-209.

杨唐文¹,韩建达²,KUHNERT K D³. 室外自主移动机器人AMOR的导航技术[J]. 计算机工程与应用, 2008, 44(22): 206-209.

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Navigating an autonomous mobile outdoor robot AMOR

室外自主移动机器人AMOR的导航技术

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