A Method of Autonomous Robot Navigation Based on Nearness Diagram in Part Unknown Environment

Abstract

This paper addresses a new method of the autonomous robot navigation based on nearness diagram in part unknown environment. The algorithm can be divided into two levels: the global path-planning layer based on A* and the local obstacle avoidance layer based on nearness diagram. The first layer is responsible for global path-planning whose purpose is to find the optimal path in the global structured environment by using the method of A*. The local obstacle avoidance and path tracking are completed in the second layer. Key points of the global path obtained in the first layer are used as the target reference points for local obstacle using sonar to update the environment information. Robot can dispose of emergent obstacles with this method and optimization of path is also attained. Experiment results show the effectiveness of this method.