摘要
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.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017 |
| 编辑 | Ying Dai, Shaozi Li, Yun Cheng |
| 出版商 | Institute of Electrical and Electronics Engineers Inc. |
| 页 | 783-787 |
| 页数 | 5 |
| ISBN（电子版） | 9781538630136 |
| DOI | |
| 出版状态 | 已出版 - 14 11月 2017 |
| 活动 | 4th International Conference on Information Science and Control Engineering, ICISCE 2017 - Changsha, Hunan, 中国 期限: 21 7月 2017 → 23 7月 2017 |
出版系列
| 姓名 | Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017 |
|---|
会议
| 会议 | 4th International Conference on Information Science and Control Engineering, ICISCE 2017 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Changsha, Hunan |
| 时期 | 21/07/17 → 23/07/17 |
指纹
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Zhang, C., Wang, J., Li, J., & Yan, M. (2017). 2D map building and path planning based on LiDAR. 在 Y. Dai, S. Li, & Y. Cheng (编辑), Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017 (页码 783-787). 文章 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