Navigating an autonomous mobile outdoor robot AMOR
K.‐D. Kuhnert · Computer Engineering and Applications Journal · 2008
Motion planning is a very challenging issue of navigating a mobile outdoor robot,especially when it moves in unstructured environments.In this paper,based on grid maps updated in real time,a fast,suboptimal planning algorithm is proposed to implement collision-free navigation of an autonomous mobile outdoor robot AMOR,who is the winner of autonomous reconnaissance in the 2007 C-ELROB competition.The grid map is established with the obstacle information around the outdoor robot,mainly from the scanning data of a SICK laser finder.A new A based searching algorithm provides a practically effective solution to the path planning problem.Reliable and safe navigation is achieved,and proved through urban and non-urban tests and competitions.