典型文献
Hybrid Navigation System Based Autonomous Positioning and Path Planning for Mobile Robots
文献摘要：
Positioning and navigation technology is a new trend of research in mobile robot area. Existing researches focus on the indoor industrial problems, while many application fields are in the outdoor environment, which put forward higher requirements for sensor selection and navigation scheme. In this paper, a complete hybrid navigation system for a class of mobile robots with load tasks and docking tasks is presented. The work can realize large-range autono? mous positioning and path planning for mobile robots in unstructured scenarios. The autonomous positioning is achieved by adopting suitable guidance methods to meet different application requirements and accuracy require? ments in conditions of different distances. Based on the Bezier curve, a path planning scheme is proposed and a motion controller is designed to make the mobile robot follow the target path. The Kalman filter is established to process the guidance signals and control outputs of the motion controller. Finally, the autonomous positioning and docking experiment are carried out. The results of the research verify the effectiveness of the hybrid navigation, which can be used in autonomous warehousing logistics and multi-mobile robot system.
文献关键词：
中图分类号：
作者姓名：
Shuzhan Shentu;Zhao Gong;Xin-Jun Liu;Quan Liu;Fugui Xie
作者机构：
The State Key Laboratory of Tribology,Department of Mechanical Engi?neering(DME),Tsinghua University,Beijing 100084,China;Beijing Key Lab of Precision/Ultra?precision Manufacturing Equipments and Control,Tsinghua University,Beijing 100084,China
文献出处：
引用格式：
[1]Shuzhan Shentu;Zhao Gong;Xin-Jun Liu;Quan Liu;Fugui Xie-.Hybrid Navigation System Based Autonomous Positioning and Path Planning for Mobile Robots)[J].中国机械工程学报,2022(05):149-161
A类：
autono
B类：
Hybrid,Navigation,System,Based,Autonomous,Positioning,Path,Planning,Mobile,Robots,navigation,technology,new,trend,mobile,area,Existing,researches,focus,indoor,industrial,problems,while,many,application,fields,outdoor,environment,which,forward,higher,requirements,sensor,selection,scheme,In,this,paper,complete,hybrid,system,class,robots,load,tasks,docking,presented,work,can,realize,large,range,positioning,path,planning,unstructured,scenarios,autonomous,achieved,by,adopting,suitable,guidance,methods,meet,different,accuracy,conditions,distances,Bezier,curve,proposed,motion,controller,designed,make,follow,target,Kalman,filter,established,process,signals,outputs,Finally,experiment,carried,results,verify,effectiveness,be,used,warehousing,logistics,multi
AB值：
0.567404
相似文献
机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
