Boundary Gap Based Reactive Navigation in Unknown Environments

doi:10.1109/JAS.2021.1003841

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Boundary Gap Based Reactive Navigation in Unknown Environments
	Zhao Gao; Jiahu Qin; Shuai Wang; Yaonan Wang
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2021
卷号	8 期号:2 页码:468-477
摘要	Due to the requirements for mobile robots to search or rescue in unknown environments, reactive navigation which plays an essential role in these applications has attracted increasing interest. However, most existing reactive methods are vulnerable to local minima in the absence of prior knowledge about the environment. This paper aims to address the local minimum problem by employing the proposed boundary gap (BG) based reactive navigation method. Specifically, the narrowest gap extraction algorithm (NGEA) is proposed to eliminate the improper gaps. Meanwhile, we present a new concept called boundary gap which enables the robot to follow the obstacle boundary and then get rid of local minima. Moreover, in order to enhance the smoothness of generated trajectories, we take the robot dynamics into consideration by using the modified dynamic window approach (DWA). Simulation and experimental results show the superiority of our method in avoiding local minima and improving the smoothness.
关键词	Boundary gap local minima reactive navigation unknown environments
DOI	10.1109/JAS.2021.1003841
引用统计	被引频次：13[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/43925
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Zhao Gao,Jiahu Qin,Shuai Wang,et al. Boundary Gap Based Reactive Navigation in Unknown Environments[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(2):468-477.
APA	Zhao Gao,Jiahu Qin,Shuai Wang,&Yaonan Wang.(2021).Boundary Gap Based Reactive Navigation in Unknown Environments.IEEE/CAA Journal of Automatica Sinica,8(2),468-477.
MLA	Zhao Gao,et al."Boundary Gap Based Reactive Navigation in Unknown Environments".IEEE/CAA Journal of Automatica Sinica 8.2(2021):468-477.

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