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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 AuthorYang, Qifeng(yangqifeng@siasun.com)
2019-08-05
Source PublicationASSEMBLY AUTOMATION
ISSN0144-5154
Volume39Issue:3Pages:469-478
AbstractPurpose 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.
KeywordMotion control Mobile robot 3D laser scanning Autonomous navigation GPS-Denied outdoor environment
Funding OrganizationNational Natural Science Foundation of China
DOI10.1108/AA-02-2018-029
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[U1608253]
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing
WOS IDWOS:000482432000009
PublisherEMERALD GROUP PUBLISHING LTD
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.imr.ac.cn/handle/321006/135194
Collection中国科学院金属研究所
Corresponding AuthorYang, Qifeng
Affiliation1.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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