Unmanned Rover plays an important role in detection on the planet surface. As the carrier of scientific investigation, safe and reliable path planning is particularly important for the rover itself. Therefore, it is required that the rover can go to the mission target point through global planning, and it is also required that the rover can avoid local obstacles. In this paper, Dijkstra algorithm and dynamic window approach are combined to make the rover have the global planning ability to get the optimal solution and the local obstacle avoidance ability based on real-time perception. Three groups of physical experiments are carried out to verify the effectiveness of the obstacle avoidance algorithm in multi-obstacle environment.
Rapid Obstacle Avoidance Planning of Patrol Under Multi-obstacle Constraint
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 332 ; 3380-3387
2022-03-18
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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