![]() In this paper, a novel real-time multi-constraints obstacle avoidance method using Light Detection and Ranging(LiDAR) is proposed, which is able to, based on the latest estimation of the robot pose and environment, find the sub-goal defined by a multi-constraints function within the explored region and plan a corresponding optimal trajectory at each time step iteratively, so that the robot approaches the goal over time. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner, which often fail to respond to unexpected moving obstacles in dynamic unknown environments. ![]() Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots.
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