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本文提出了一种针对装备有激光测距仪的地面移动机器人系统的实时自主导航算法.与现有的专为解决2维导航问题所设计的算法不同,新算法在导航过程中引入了障碍物的高度信息,并且使用2.5维角度势场法来满足在复杂的户外地形条件下的自主导航要求.首先,一幅激光测距仪扫描地图被划分为两种不同的功能扇区:“导航扇区”和“监测扇区”.然后,在充分利用障碍物高度信息的条件下,对“导航扇区”和“监测扇区”进行重构,从而获得一幅虚拟的2维激光扫描地图.最后,传统的角度势场法被进行了适当的改进,以便能够顺利的作用到虚拟的2维激光扫描地图上,产生恰当的导航指令.新算法在履带型地面移动机器人上进行了测试,实验结果充分的证明了其有效性和可实现性.
In this paper, we present a real-time autonomous navigation algorithm for a ground-based mobile robot system equipped with a laser range finder. Unlike the existing algorithms designed to solve 2-D navigation problems, the new algorithm introduces obstacles in the navigation process , And uses the 2.5-dimensional angular potential field method to satisfy autonomous navigation requirements under complex outdoor terrain conditions.First, a laser rangefinder scan map is divided into two different functional sectors: Sector “and” monitor sector. “Then, the” navigation sector “and the” monitoring sector "are reconstructed to take advantage of the obstacle height information to obtain a Virtual 2-D laser scanning map.Finally, the traditional angle potential field method has been properly modified so as to be able to successfully function on the virtual 2-D laser scanning map to generate proper navigation instructions.The new algorithm is applied to the crawler ground Mobile robot carried on the test, the experimental results fully proved its effectiveness and feasibility.