Abstract
This paper presents a 3D laser point cloud-based navigation method for mobile robot in complex environment. On the basis of laser data coordinate transformation from sphere to cylinder, environment perception cylinder is configured. In the cylinder, terrain traversability in complex environment is analyzed with radial slope and tangential slope of point cloud. Furthermore, navigation circle is built up and navigation direction is obtained. Experimental results confirm that the method can make robot moving safely and correctly in complex environment.
| Original language | English |
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| Title of host publication | Proceedings of the 29th Chinese Control Conference, CCC'10 |
| Pages | 3798-3803 |
| Number of pages | 6 |
| Publication status | Published - 2010 |
| Event | 29th Chinese Control Conference, CCC'10 - Beijing, China Duration: 29 Jul 2010 → 31 Jul 2010 |
Publication series
| Name | Proceedings of the 29th Chinese Control Conference, CCC'10 |
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Conference
| Conference | 29th Chinese Control Conference, CCC'10 |
|---|---|
| Country/Territory | China |
| City | Beijing |
| Period | 29/07/10 → 31/07/10 |
Keywords
- 3D point cloud
- Navigation circle
- Perception cylinder
- Radial/tangential slope
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Yang, Y., Fu, M., Wang, W., Yang, X., & Zhu, H. (2010). 3D laser point cloud-based navigation in complex environment. In Proceedings of the 29th Chinese Control Conference, CCC'10 (pp. 3798-3803). Article 5573382 (Proceedings of the 29th Chinese Control Conference, CCC'10).