A New Environmental Modeling Method for Mobile Robot Based on Laser Radar
Xiaobing Zou · Machine Tool & Hydraulics · 2007
Environmental modeling technology is an important research process in the!navigation study of the autonomous mobile robot.The environmental modeling methods which are prevalent adopted and the disadvantages of these methods were analyzed.Combined the Grids method and improved AVBN method,a new Environmental modeling method was put forward which is aimed for the navigation of mobile robot in complex environment.At first,this method builds a grids map with the datum of the laser radar,then it forms a topological network fig through grid expand method,consequently a shortest path between start point and end point was gotten through the optimized graph-search algorithm.The robustness and validity of this method were verified through the IMR01 mobile robot designed by ourselves and the HOMING strategy.