A 3-LAYERED HIERARCHICAL PATH CONTROL-SYSTEM FOR MOBILE ROBOTS - ALGORITHMS AND EXPERIMENTS

被引：15

作者：

GULDNER, J

UTKIN, VI

BAUER, R

机构：

[1] OHIO STATE UNIV,DEPT ELECT ENGN,COLUMBUS,OH 43210

[2] SIEMENS AG,D-81739 MUNICH,GERMANY

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 1995年 / 14卷 / 2-3期

关键词：

INTELLIGENT AUTONOMOUS ROBOTS; 3-LAYERED HIERARCHICAL PATH CONTRO; WAVE PROPAGATION; HARMONIC POTENTIAL FIELD; STEER ANGLE FIELD;

D O I：

10.1016/0921-8890(94)00025-W

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Autonomous operation of mobile robots in unknown cluttered environments is one of the cornerstones of future applications of autonomous systems. This paper presents a three-layered hierarchical path control system for guiding a mobile robot through an unprepared cramped workspace to a specified goal point. It is assumed that the location of the robot with respect to a fixed world frame is provided by a suitable localization algorithm. The path control consists of three modules: global planning, local navigation, and collision avoidance. Each module is restricted to a subtask of limited competence and responsibility, allowing for on-line implementation within the associated time frames. The main emphasis is placed on achieving satisfactory performance with a minimum effort in sensing and computer hardware. Experimental results with the Siemens mobile platform ROAMER illustrate the methodology and performance of the path control system in unprepared cluttered environments.

引用

页码：133 / 147

页数：15

共 18 条

[1] Integrating behavioral, perceptual, and world knowledge in reactive navigation [J].

Arkin, Ronald C. .

Robotics and Autonomous Systems, 1990, 6 (1-2) :105-122

[2] ROBOT MOTION PLANNING - A DISTRIBUTED REPRESENTATION APPROACH [J].

BARRAQUAND, J ;

LATOMBE, JC .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1991, 10 (06) :628-649

[3]

BAUER R, 1993, P INT WORKSHOP INTEL, P67

[4] HISTOGRAMIC IN-MOTION MAPPING FOR MOBILE ROBOT OBSTACLE AVOIDANCE [J].

BORENSTEIN, J ;

KOREN, Y .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1991, 7 (04) :535-539

[5] A ROBUST LAYERED CONTROL-SYSTEM FOR A MOBILE ROBOT [J].

BROOKS, RA .

IEEE JOURNAL OF ROBOTICS AND AUTOMATION, 1986, 2 (01) :14-23

[6]

Connolly C., 1990, IEEE INT C ROB AUT C, P2102

[7]

FEITEN W, 1994, IEEE INT CONF ROBOT, P2412, DOI 10.1109/ROBOT.1994.351150

[8]

GORGEFORS G, 1984, COMPUTER VISION GRAP, V27, P321

[9]

GULDNER J, 1993, PROCEEDINGS OF THE 32ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, P424, DOI 10.1109/CDC.1993.325112

[10]

GULDNER J, 1994, Patent No. 44089821

← 1 2 →