A Sonar-Based Real-Time Navigation Method for Mobile Robot
Xiaofeng Lian · Measurement & Control Technology · 2010
A real-time navigation method for mobile robot based on sonar data is presented.Firstly,a probability model from the sonar data to map is introduced.The environment information detected by sonar is represented in the form of probability based on grids,and is fused by evidential reasoning with uncertainty based on Dempster-Shafer theory to describe the local environment around the mobile robot.And then,path planning based on rolling windows is implemented to realize real-time navigation for mobile robot.Experimental results show that the method is feasible and effective.