Novel autonomous navigation algorithms in dynamic and unknown environments

Erik Zamora, Wen Yu

Resultado de la investigación: Contribución a una revistaArtículo de la conferenciarevisión exhaustiva

Resumen

Because the range of mobile robot sensor is limited and the navigation map is not accurate, autonomous navigation in dynamic and unknown environment is a big challenge. In this paper, we propose two novel autonomous navigation algorithms, which are based on the analysis of three conditions for unobserved and uncertainty environment during the navigation. The algorithm for dynamic environment uses the "known space" and "free space" conditions. It corrects false obstacles in the map when conventional path is stuck. The navigation algorithm for unknown environment uses the "unknown space" and "free space" conditions. We use Monte Carlo method to evaluate the performance of our algorithms and the other methods. Experimental results show that our autonomous navigation algorithms are better than the others.

Idioma originalInglés
Número de artículo6974090
Páginas (desde-hasta)1276-1281
Número de páginas6
PublicaciónConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volumen2014-January
N.ºJanuary
DOI
EstadoPublicada - 2014
Publicado de forma externa
Evento2014 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2014 - San Diego, Estados Unidos
Duración: 5 oct 20148 oct 2014

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