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

doi:10.1108/AA-02-2018-029

IMR OpenIR

	Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning
	Yang, Qifeng 1,2,3; Qu, Daokui 1,2,3; Xu, Fang 1,2,3; Zou, Fengshan 3; He, Guojian 4; Sun, Mingze 3
通讯作者	Yang, Qifeng(yangqifeng@siasun.com)
	2019-08-05
发表期刊	ASSEMBLY AUTOMATION
ISSN	0144-5154
卷号	39 期号:3 页码:469-478
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.
关键词	Motion control Mobile robot 3D laser scanning Autonomous navigation GPS-Denied outdoor environment
资助者	National Natural Science Foundation of China
DOI	10.1108/AA-02-2018-029
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[U1608253]
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing
WOS记录号	WOS:000482432000009
出版者	EMERALD GROUP PUBLISHING LTD
引用统计	被引频次：15[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.imr.ac.cn/handle/321006/135194
专题	中国科学院金属研究所
通讯作者	Yang, Qifeng
作者单位	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
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.