| Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning | |
| Yang, Qifeng1,2,3; Qu, Daokui1,2,3; Xu, Fang1,2,3; Zou, Fengshan3; He, Guojian4; Sun, Mingze3 | |
| Corresponding Author | Yang, Qifeng(yangqifeng@siasun.com) |
| 2019-08-05 | |
| Source Publication | ASSEMBLY AUTOMATION
 |
| ISSN | 0144-5154 |
| Volume | 39Issue:3Pages:469-478 |
| Abstract | 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. |
| Keyword | Motion control Mobile robot 3D laser scanning Autonomous navigation GPS-Denied outdoor environment |
| Funding Organization | National Natural Science Foundation of China |
| DOI | 10.1108/AA-02-2018-029 |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | National Natural Science Foundation of China[U1608253] |
| WOS Research Area | Automation & Control Systems ; Engineering |
| WOS Subject | Automation & Control Systems ; Engineering, Manufacturing |
| WOS ID | WOS:000482432000009 |
| Publisher | EMERALD GROUP PUBLISHING LTD |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.imr.ac.cn/handle/321006/135194 |
| Collection | 中国科学院金属研究所 |
| Corresponding Author | Yang, Qifeng |
| Affiliation | 1.Univ Chinese Acad Sci, Beijing, Peoples R China 2.Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Liaoning, Peoples R China 3.Shenyang SIASUN Robot & Automat Co Ltd, Shenyang, Liaoning, Peoples R China 4.Dalian Univ Technol, Sch Control Sci & Engn, Dalian, Peoples R China |
| Recommended Citation 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. |
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