Advertisement
Published in:
2017 | OriginalPaper | Chapter
Differential Wheeled Robot Navigation Based on the Smoothing A* Algorithm and Dead-Reckoning
Authors : Daowei Jiang, Liang Yuan
Published in: Intelligent Autonomous Systems 14
Publisher: Springer International Publishing
Activate our intelligent search to find suitable subject content or patents.
Select sections of text to find matching patents with Artificial Intelligence. powered by
Select sections of text to find additional relevant content using AI-assisted search. powered by
Abstract
This paper aims to solve synthesis problems of two-wheel difference speed mobile robot in navigation and localization. A new method is proposed by combining the A* algorithm, motion control, and dead reckoning before the integrated treatment to address practical problems of short-term navigation and orientation during robot movement. First, the A* algorithm is used to plan out robot’s trajectory from a known point to the target, Floyd algorithm and circular arc algorithm are chosen for the optimization of the A* algorithm to make it in accordance with the trajectory of two-wheel differential motion robot. Then, the robot is controlled to move along the scheduled trajectory. Finally, based on dead-reckoning, robot’s position in the environment during locomotion is calculated to realize real-time positioning and tracking of its position and trajectory.