Abstract
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.
Highlights
Mobile robot is a comprehensive system integrating environment perception, dynamic decision and planning, behavior control, and execution, etc. [1]
The problem of the indoor mapping robot pathfinding in unknown environments is discussed
We introduce the process of simultaneous localization and mapping using laser
Summary
Mobile robot is a comprehensive system integrating environment perception, dynamic decision and planning, behavior control, and execution, etc. [1]. Mobile robot is a comprehensive system integrating environment perception, dynamic decision and planning, behavior control, and execution, etc. Since the late 1960s, much research has been conducted on mobile robots’ environmental information sensors, information processing algorithms, remote control technologies, and navigation in the environment [2]. Mobile robots are widely applied in military, aviation, resource exploration, transportation, agriculture, and education, and have broad prospects [3,4,5,6], even in one of the most active areas in science and technology. The environmental information which they want to obtain will be blocked and they have to take more photos to eliminate the effect.
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