2D map building and path planning based on LiDAR

Chi Zhang; Junzheng Wang; Jing Li; Min Yan

doi:10.1109/ICISCE.2017.167

2D map building and path planning based on LiDAR

Chi Zhang, Junzheng Wang, Jing Li^*, Min Yan

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Citations (Scopus)

Abstract

This paper presents a method of map building and path planning in an unknown environment. The method employs Light Detection And Ranging (LiDAR) to construct the 2D grid map, on which Anytime D^∗ (AD^∗) and Dynamic Window Approach (DWA) are used for path planning. The global path is generated by AD^∗ algorithm while DWA is responsible for dynamic obstacle avoidance. Simulation and experiments verify the rapidity and robustness of the method.

Original language	English
Title of host publication	Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017
Editors	Ying Dai, Shaozi Li, Yun Cheng
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	783-787
Number of pages	5
ISBN (Electronic)	9781538630136
DOIs	https://doi.org/10.1109/ICISCE.2017.167
Publication status	Published - 14 Nov 2017
Event	4th International Conference on Information Science and Control Engineering, ICISCE 2017 - Changsha, Hunan, China Duration: 21 Jul 2017 → 23 Jul 2017

Publication series

Name	Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017

Conference

Conference	4th International Conference on Information Science and Control Engineering, ICISCE 2017
Country/Territory	China
City	Changsha, Hunan
Period	21/07/17 → 23/07/17

Keywords

AD
DWA
Dynamic planning
Path planning

Access to Document

10.1109/ICISCE.2017.167

Cite this

Zhang, C., Wang, J., Li, J., & Yan, M. (2017). 2D map building and path planning based on LiDAR. In Y. Dai, S. Li, & Y. Cheng (Eds.), Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017 (pp. 783-787). Article 8110394 (Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICISCE.2017.167

Zhang, Chi ; Wang, Junzheng ; Li, Jing et al. / 2D map building and path planning based on LiDAR. Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017. editor / Ying Dai ; Shaozi Li ; Yun Cheng. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 783-787 (Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017).

@inproceedings{59da34d593ba4d5b90b8bde1dddbd933,

title = "2D map building and path planning based on LiDAR",

abstract = "This paper presents a method of map building and path planning in an unknown environment. The method employs Light Detection And Ranging (LiDAR) to construct the 2D grid map, on which Anytime D∗ (AD∗) and Dynamic Window Approach (DWA) are used for path planning. The global path is generated by AD∗ algorithm while DWA is responsible for dynamic obstacle avoidance. Simulation and experiments verify the rapidity and robustness of the method.",

keywords = "AD, DWA, Dynamic planning, Path planning",

author = "Chi Zhang and Junzheng Wang and Jing Li and Min Yan",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 4th International Conference on Information Science and Control Engineering, ICISCE 2017 ; Conference date: 21-07-2017 Through 23-07-2017",

year = "2017",

month = nov,

day = "14",

doi = "10.1109/ICISCE.2017.167",

language = "English",

series = "Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "783--787",

editor = "Ying Dai and Shaozi Li and Yun Cheng",

booktitle = "Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017",

address = "United States",

}

Zhang, C, Wang, J, Li, J & Yan, M 2017, 2D map building and path planning based on LiDAR. in Y Dai, S Li & Y Cheng (eds), Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017., 8110394, Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017, Institute of Electrical and Electronics Engineers Inc., pp. 783-787, 4th International Conference on Information Science and Control Engineering, ICISCE 2017, Changsha, Hunan, China, 21/07/17. https://doi.org/10.1109/ICISCE.2017.167

2D map building and path planning based on LiDAR. / Zhang, Chi; Wang, Junzheng; Li, Jing et al.
Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017. ed. / Ying Dai; Shaozi Li; Yun Cheng. Institute of Electrical and Electronics Engineers Inc., 2017. p. 783-787 8110394 (Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - 2D map building and path planning based on LiDAR

AU - Zhang, Chi

AU - Wang, Junzheng

AU - Li, Jing

AU - Yan, Min

PY - 2017/11/14

Y1 - 2017/11/14

N2 - This paper presents a method of map building and path planning in an unknown environment. The method employs Light Detection And Ranging (LiDAR) to construct the 2D grid map, on which Anytime D∗ (AD∗) and Dynamic Window Approach (DWA) are used for path planning. The global path is generated by AD∗ algorithm while DWA is responsible for dynamic obstacle avoidance. Simulation and experiments verify the rapidity and robustness of the method.

AB - This paper presents a method of map building and path planning in an unknown environment. The method employs Light Detection And Ranging (LiDAR) to construct the 2D grid map, on which Anytime D∗ (AD∗) and Dynamic Window Approach (DWA) are used for path planning. The global path is generated by AD∗ algorithm while DWA is responsible for dynamic obstacle avoidance. Simulation and experiments verify the rapidity and robustness of the method.

KW - AD

KW - DWA

KW - Dynamic planning

KW - Path planning

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U2 - 10.1109/ICISCE.2017.167

DO - 10.1109/ICISCE.2017.167

M3 - Conference contribution

AN - SCOPUS:85040584447

T3 - Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017

SP - 783

EP - 787

BT - Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017

A2 - Dai, Ying

A2 - Li, Shaozi

A2 - Cheng, Yun

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 4th International Conference on Information Science and Control Engineering, ICISCE 2017

Y2 - 21 July 2017 through 23 July 2017

ER -

Zhang C, Wang J, Li J, Yan M. 2D map building and path planning based on LiDAR. In Dai Y, Li S, Cheng Y, editors, Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 783-787. 8110394. (Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017). doi: 10.1109/ICISCE.2017.167

2D map building and path planning based on LiDAR

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