论文标题
在不确定环境中的自动移动机器人的新型导航系统
A Novel Navigation System for an Autonomous Mobile Robot in an Uncertain Environment
论文作者
论文摘要
在本文中，我们开发了一个新的导航系统，该系统检测具有自适应阈值聚类算法的滑动窗口中的障碍物，用决策树对检测到的障碍物进行了分类，可以预测潜在的碰撞，并通过简化的Mophin算法找到最佳路径。与机器人导航中的艺术状态相比，该系统具有最佳自由碰撞路径，较小的内存大小和较小的计算复杂性的优点。关于八种场景的模拟和机器人的实验表明，机器人可以有效，有效地避免在其周围环境中与任何静态或动态障碍物的潜在碰撞。
In this paper, we developed a new navigation system, which detects obstacles in a sliding window with an adaptive threshold clustering algorithm, classifies the detected obstacles with a decision tree, heuristically predicts potential collision and finds optimal path with a simplified Mophin algorithm. This system has the merits of optimal free-collision path, small memory size and less computing complexity, compared with the state of the arts in robot navigation. The experiments on simulation and a robot for eight scenarios demonstrate that the robot can effectively and efficiently avoid potential collisions with any static or dynamic obstacles in its surrounding environment.
