Low-cost map building and obstacle avoidance of miniature reconnaissance robot

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

doi:10.1109/ROBIO.2016.7866323

Low-cost map building and obstacle avoidance of miniature reconnaissance robot

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

机电学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

4 引用（Scopus）

摘要

Miniature robots can't carry too many sensors for obstacle avoidance due to its small volume. In this paper, we applied the method based on low-cost local map for obstacle avoidance that uses infrared sensors and MPU6050. Firstly, we introduced the robot and its kinematic model. Secondly, proposed the criterion of robot be trapped. Thirdly, we studied the infrared data filtering with FIR filter and local map building. Fourthly, proposed the free movement area method for two wheeled robot route planning. Finally, we did the contrast experiment, result shows that the robot can escape from the U-shape trap that use the method applied in this paper while the traditional method can't.

源语言	英语
主期刊名	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
出版商	Institute of Electrical and Electronics Engineers Inc.
页	208-213
页数	6
ISBN（电子版）	9781509043644
DOI	https://doi.org/10.1109/ROBIO.2016.7866323
出版状态	已出版 - 2016
活动	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, 中国期限: 3 12月 2016 → 7 12月 2016

出版系列

姓名	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

会议

会议	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
国家/地区	中国
市	Qingdao
时期	3/12/16 → 7/12/16

访问文件

10.1109/ROBIO.2016.7866323

其它文件与链接

链接到 Scopus 的出版物

引用此

Shi, X., Gao, J., Liu, Y., Zhao, J., Zhao, F., Cao, H., & Liu, C. (2016). Low-cost map building and obstacle avoidance of miniature reconnaissance robot. 在 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 (页码 208-213). 文章 7866323 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866323

@inproceedings{f9e6cd10995f4310956222edcf43cb91,

title = "Low-cost map building and obstacle avoidance of miniature reconnaissance robot",

abstract = "Miniature robots can't carry too many sensors for obstacle avoidance due to its small volume. In this paper, we applied the method based on low-cost local map for obstacle avoidance that uses infrared sensors and MPU6050. Firstly, we introduced the robot and its kinematic model. Secondly, proposed the criterion of robot be trapped. Thirdly, we studied the infrared data filtering with FIR filter and local map building. Fourthly, proposed the free movement area method for two wheeled robot route planning. Finally, we did the contrast experiment, result shows that the robot can escape from the U-shape trap that use the method applied in this paper while the traditional method can't.",

author = "Xuanyang Shi and Junyao Gao and Yi Liu and Jingchao Zhao and Fangzhou Zhao and Haoxiang Cao and Chuzhao Liu",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 ; Conference date: 03-12-2016 Through 07-12-2016",

year = "2016",

doi = "10.1109/ROBIO.2016.7866323",

language = "English",

series = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

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

pages = "208--213",

booktitle = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

address = "United States",

}

Shi, X, Gao, J, Liu, Y, Zhao, J, Zhao, F, Cao, H & Liu, C 2016, Low-cost map building and obstacle avoidance of miniature reconnaissance robot. 在 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016., 7866323, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Institute of Electrical and Electronics Engineers Inc., 页码 208-213, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Qingdao, 中国, 3/12/16. https://doi.org/10.1109/ROBIO.2016.7866323

Low-cost map building and obstacle avoidance of miniature reconnaissance robot. / Shi, Xuanyang; Gao, Junyao; Liu, Yi 等.
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2016. 页码 208-213 7866323 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Low-cost map building and obstacle avoidance of miniature reconnaissance robot

AU - Shi, Xuanyang

AU - Gao, Junyao

AU - Liu, Yi

AU - Zhao, Jingchao

AU - Zhao, Fangzhou

AU - Cao, Haoxiang

AU - Liu, Chuzhao

PY - 2016

Y1 - 2016

N2 - Miniature robots can't carry too many sensors for obstacle avoidance due to its small volume. In this paper, we applied the method based on low-cost local map for obstacle avoidance that uses infrared sensors and MPU6050. Firstly, we introduced the robot and its kinematic model. Secondly, proposed the criterion of robot be trapped. Thirdly, we studied the infrared data filtering with FIR filter and local map building. Fourthly, proposed the free movement area method for two wheeled robot route planning. Finally, we did the contrast experiment, result shows that the robot can escape from the U-shape trap that use the method applied in this paper while the traditional method can't.

AB - Miniature robots can't carry too many sensors for obstacle avoidance due to its small volume. In this paper, we applied the method based on low-cost local map for obstacle avoidance that uses infrared sensors and MPU6050. Firstly, we introduced the robot and its kinematic model. Secondly, proposed the criterion of robot be trapped. Thirdly, we studied the infrared data filtering with FIR filter and local map building. Fourthly, proposed the free movement area method for two wheeled robot route planning. Finally, we did the contrast experiment, result shows that the robot can escape from the U-shape trap that use the method applied in this paper while the traditional method can't.

UR - http://www.scopus.com/inward/record.url?scp=85016795755&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2016.7866323

DO - 10.1109/ROBIO.2016.7866323

M3 - Conference contribution

AN - SCOPUS:85016795755

T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

SP - 208

EP - 213

BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Y2 - 3 December 2016 through 7 December 2016

ER -

Shi X, Gao J, Liu Y, Zhao J, Zhao F, Cao H 等. Low-cost map building and obstacle avoidance of miniature reconnaissance robot. 在 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc. 2016. 页码 208-213. 7866323. (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). doi: 10.1109/ROBIO.2016.7866323

Low-cost map building and obstacle avoidance of miniature reconnaissance robot

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