An Eight-Direction Scanning Detection Algorithm for the Mapping Robot Pathfinding in Unknown Indoor Environment
发布时间：2025-01-07 点击次数：
DOI码：10.3390/s18124254
所属单位：School of Remote Sensing and Information Engineering, Wuhan University, China
发表刊物：SENSORS
关键字：eight-direction scanning detection,unknown indoor environment,mapping robot,pathfinding,autonomous obstacle avoidance
摘要：Aiming at the problem of how to enable the mobile robot to navigate and traverse efficiently and safely in the unknown indoor environment and map the environment, an eight-direction scanning detection (eDSD) algorithm is proposed as a new pathfinding algorithm. Firstly, we use a laser-based SLAM (Simultaneous Localization and Mapping) algorithm to perform simultaneous localization and mapping to acquire the environment information around the robot. Then, according to the proposed algorithm, the 8 certain areas around the 8 directions which are developed from the robot's center point are analyzed in order to calculate the probabilistic path vector of each area. Considering the requirements of efficient traverse and obstacle avoidance in practical applications, the proposal can find the optimal local path in a short time. In addition to local pathfinding, the global pathfinding is also introduced for unknown environments of large-scale and complex structures to reduce the repeated traverse. The field experiments in three typical indoor environments demonstrate that deviation of the planned path from the ideal path can be kept to a low level in terms of the path length and total time consumption. It is confirmed that the proposed algorithm is highly adaptable and practical in various indoor environments.
合写作者： Le,Wu, Wei,Dong, Qingwu,Hu, Mingyao, Jiayuan,Li, Pengcheng,Jiang, Xuan,Ai,Zhao
论文类型：期刊论文
学科门类：工学
文献类型：J
卷号：18
期号：12
是否译文：否
CN号：WOS:000454817100173
发表时间：2018-12-01
