Mobile robot local motion planning is responsible for the fast and smooth obstacle avoidance,which is one of the main indicators for evaluating mobile robots'navigation capabilities.Current methods formulate local...Mobile robot local motion planning is responsible for the fast and smooth obstacle avoidance,which is one of the main indicators for evaluating mobile robots'navigation capabilities.Current methods formulate local motion planning as a unified problem;therefore it cannot satisfy the real-time requirement on the platform with limited computing ability.In order to solve this problem,this paper proposes a fast local motion planning method that can reach a planning frequency of 500 Hz on a low-cost CPU.The proposed method decouples the local motion planning as the front-end path searching and the back-end optimization.The front-end is composed of the environment topology analysis and graph searching.The back-end includes dynamically feasible trajectory generation and optimal trajectory selection.Different from the popular methods,the proposed method decomposes the local motion planning into four sub-modules,each of which aims to solve one problem.Combining four sub-modules,the proposed method can obtain the complete local motion planning algorithm which can fast generate a smooth and collision-free trajectory.The experimental results demonstrate that the proposed method has the ability to obtain the smooth,dynamically feasible and collision-free trajectory and the speed of the planning is fast.展开更多
Since CAS is charged with the key task of carrying out strategic, fundamental and forward-looking studies for this country, it is incumbent upon CAS scientists to take an active part in the National Program for the De...Since CAS is charged with the key task of carrying out strategic, fundamental and forward-looking studies for this country, it is incumbent upon CAS scientists to take an active part in the National Program for the Development of Western China. This is also an important part of the national Knowledge Innovation Program (KIP) spearheaded by CAS. Over the past two years, CAS has made a series of remarkable advances in Western China with regard to the development of research bases, exploration of crucial scientific problems, the training of talented people, and providing consultation services for decision makers.With the furtherance of the national drive to develop the country's western region, CAS will step up its efforts and increase its funding, to make more and greater contributions to the overall development of the region.展开更多
基金the National Key R&D Program of China (No.2017YFB1301300)。
文摘Mobile robot local motion planning is responsible for the fast and smooth obstacle avoidance,which is one of the main indicators for evaluating mobile robots'navigation capabilities.Current methods formulate local motion planning as a unified problem;therefore it cannot satisfy the real-time requirement on the platform with limited computing ability.In order to solve this problem,this paper proposes a fast local motion planning method that can reach a planning frequency of 500 Hz on a low-cost CPU.The proposed method decouples the local motion planning as the front-end path searching and the back-end optimization.The front-end is composed of the environment topology analysis and graph searching.The back-end includes dynamically feasible trajectory generation and optimal trajectory selection.Different from the popular methods,the proposed method decomposes the local motion planning into four sub-modules,each of which aims to solve one problem.Combining four sub-modules,the proposed method can obtain the complete local motion planning algorithm which can fast generate a smooth and collision-free trajectory.The experimental results demonstrate that the proposed method has the ability to obtain the smooth,dynamically feasible and collision-free trajectory and the speed of the planning is fast.
文摘Since CAS is charged with the key task of carrying out strategic, fundamental and forward-looking studies for this country, it is incumbent upon CAS scientists to take an active part in the National Program for the Development of Western China. This is also an important part of the national Knowledge Innovation Program (KIP) spearheaded by CAS. Over the past two years, CAS has made a series of remarkable advances in Western China with regard to the development of research bases, exploration of crucial scientific problems, the training of talented people, and providing consultation services for decision makers.With the furtherance of the national drive to develop the country's western region, CAS will step up its efforts and increase its funding, to make more and greater contributions to the overall development of the region.
