文献类型：期刊文献

英文题名：Path Planning Research for Outdoor Mobile Robot

作者：Dong, Yujing[1]; Liu, Shuang[1]; Zhang, Changzheng[1]; Zhou, Qigao[1]

机构：[1] East China University of Science and Technology, Shanghai, China

年份：2022

起止页码：543

外文期刊名：2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2022

收录：EI(收录号：20224513061706)

语种：英文

外文关键词：Mobile robots - Roads and streets - Robot programming

摘要：We present an improved A? algorithm based on road boundary constrainted for road scenes such as campuses, communities, and industrial parks. Firstly, the LIDAR scans the surrounding environment and saves it in the point cloud data, pre-processes the point cloud and acquires the road boundary, then translates the acquired road boundary to generate a minimal cost feasible domain, and finally adds the feasible domain to the A? algorithm for path planning. To verify the feasibility of the method, experiments were conducted in both simulated and real environments. The experimental results show that the method can improve the problem of the paths planned by the A? algorithm being too close to the road edges and reduce the influence of road boundaries when the mobile robot is moving outdoors. ? 2022 IEEE.