Navigation Scheme of Mobile Robots and Its Application at Airport Environment

Intelligent mobile robots have been widely used in the fields of manufacturing, service, military, interstellar detection and so on. Navigation is an important problem if intelligent mobile robots want to realize autonomous control. This paper proposes a novel navigation scheme for robots moving at...

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Bibliographic Details
Published in2018 13th World Congress on Intelligent Control and Automation (WCICA) pp. 1379 - 1384
Main Authors Zhang, Yinchuan, Wang, Chaoli
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2018
Subjects
Mobile Robot. Navigation
Path planning
Ultra Wide Band
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Summary:Intelligent mobile robots have been widely used in the fields of manufacturing, service, military, interstellar detection and so on. Navigation is an important problem if intelligent mobile robots want to realize autonomous control. This paper proposes a novel navigation scheme for robots moving at airport, which provide special services for VIP customers, such as going for checking, porterage and so on. The integration way of A * method and artificial potential way is presented to achieve dynamic path planning of the robots with lots of moving obstacles. This method can be used to solve the bottleneck that the artificial potential field method is easy to fall into local minimum. The posture is obtained by using UWB (Ultra-Wide Band), and the accuracy can reach 10cm or less, and the distance up to about 500 meters. The experiment shows the effectiveness of the proposed method.
DOI:10.1109/WCICA.2018.8630430