Navigation research on outdoor miniature reconnaissance robot

Yi Liu, Junyao Gao*, Xuanyang Shi, Jingchao Zhao, Haoxiang Cao, Fangzhou Zhao, Chuzhao Liu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

Miniature robot has becoming a preferable choice for outdoor reconnaissance task due to its flexibility. However, miniature robot tends to have poor navigation ability because of the limited perception ability coming with the constrained space. This paper focus on the navigation problem of outdoor miniature reconnaissance robot with limited sensing ability in unknown obstacles environment. In this paper, Global Position System (GPS), magnetometer and infrared distance sensor based artificial potential filed method is adopted to navigation robot go through obstacles. Meanwhile, local minimum trapped detection has been analyzed. Simulations and experiment proves the effectiveness of proposed method.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages977-982
Number of pages6
ISBN (Electronic)9781509023943
DOIs
Publication statusPublished - 1 Sept 2016
Event13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 - Harbin, Heilongjiang, China
Duration: 7 Aug 201610 Aug 2016

Publication series

Name2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016

Conference

Conference13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Country/TerritoryChina
CityHarbin, Heilongjiang
Period7/08/1610/08/16

Keywords

  • Artificial potential field
  • Avoid obstacle
  • Miniature robot
  • Navigation
  • Reconnaissance

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