| A Path Planning Framework for Indoor Low-cost Mobile Robots | |
| Siyang Zuo; Yongsheng Ou; Xiaorui Zhu | |
| 2017 | |
| 会议地点 | 中国澳门 |
| 英文摘要 | This paper presents a path planning framework for low-cost mobile robots, which mainly includes three parts: map-processing, collision avoidance and wall following. We change the point cloud maps provided by SLAM to grid maps and filter redundant points in the map-processing procedure. An improved A-star based path planning method and the collision avoidance framework are proposed subsequently. Finally, we propose a local-map-based incremental wall following method without adding extra distance sensors. Experiment results validate the proposed framework on our indoor low-cost mobile robot platform. |
| 语种 | 英语 |
| 内容类型 | 会议论文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11881]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2017 |
| 推荐引用方式 GB/T 7714 | Siyang Zuo,Yongsheng Ou,Xiaorui Zhu. A Path Planning Framework for Indoor Low-cost Mobile Robots[C]. 见:. 中国澳门. |
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