Study Findings on Robotics Published by a Researcher at Zhejiang University of T echnology (Local Path Planner for Mobile Robot Considering Future Positions of O bstacles)
Study Findings on Robotics Published by a Researcher at Zhejiang University of T echnology (Local Path Planner for Mobile Robot Considering Future Positions of O bstacles)
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Fresh data on robotics are presented i n a new report. According to news reporting originating from Hangzhou, People’s Republic of China, by NewsRx correspondents, research stated, “Local path planni ng is a necessary ability for mobile robot navigation, but existing planners are not sufficiently effective at dynamic obstacle avoidance.” Funders for this research include National Natural Science Foundation of China; Zhejiang Provincial Natural Science Foundation. The news editors obtained a quote from the research from Zhejiang University of Technology: “In this article, an improved timed elastic band (TEB) planner based on the requirements of mobile robot navigation in dynamic environments is propo sed. The dynamic obstacle velocities and TEB poses are fully integrated through two-dimensional (2D) lidar and multi-obstacle tracking. First, background point filtering and clustering are performed on the lidar points to obtain obstacle cl usters. Then, we calculate the data association matrix of the obstacle clusters of the current and previous frame so that the clusters can be matched. Thirdly, a Kalman filter is adopted to track clusters and obtain the optimal estimates of their velocities. Finally, the TEB poses and obstacle velocities are associated : we predict the obstacle position corresponding to the TEB pose through the det ected obstacle velocity and add this constraint to the corresponding TEB pose ve rtex.”
Key words
Zhejiang University of Technology/Hangz hou/People’s Republic of China/Asia/Emerging Technologies/Machine Learning/Robot/Robotics
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