Research on autonomous exploration motion planning method of mobile robots for unstructured scenarios

Xuehao Sun; Shuchao Deng; Baohong Tong; Shuang Wang; Shuai Ma; Qingyun Liu

doi:10.1117/12.2625246

12 December 2021 Research on autonomous exploration motion planning method of mobile robots for unstructured scenarios

Xuehao Sun, Shuchao Deng, Baohong Tong, Shuang Wang, Shuai Ma, Qingyun Liu

Author Affiliations +

Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 121271H (2021) https://doi.org/10.1117/12.2625246
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China

Abstract

To realise the safe and efficient autonomous exploration of mobile robots in unstructured scenarios, this paper proposes an autonomous exploration motion planning method. This method divides the motion planning process into two parts, namely, obstacle avoidance planning for selecting the optimal desired point, and motion state planning for tracking the desired point and generating the motion speed. The optimal and safest target point is obtained by establishing the detection and free planning areas of the mobile robot. Meanwhile, the environment-speed conversion mechanism is established to output the movement speed of the mobile robot. An emergency collision avoidance planning method is proposed to avoid the mobile robot from falling into the local minimum area. Finally, the mobile robot can move safely and steadily in an unstructured scenario. The experiment verifies the safety of the method and the efficiency of exploration. Results show that the proposed autonomous exploration motion planning method for unstructured scenes can realise collision-free exploration and obtain complete scene plane information.

Citation Download Citation

Xuehao Sun, Shuchao Deng, Baohong Tong, Shuang Wang, Shuai Ma, and Qingyun Liu "Research on autonomous exploration motion planning method of mobile robots for unstructured scenarios", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 121271H (12 December 2021); https://doi.org/10.1117/12.2625246

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