Mapless Navigation Based on 2D LIDAR in Complex Unknown Environments
This paper presents a novel approach for navigation in complex and unknown environments. At present, existing local path planners whose control output is the mapping of current sensor data have been widely studied. However, these methods cannot really solve the problem of being trapped by obstacles....
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-10-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/20/5802 |
| _version_ | 1797551045604278272 |
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| author | Kai Yan Baoli Ma |
| author_facet | Kai Yan Baoli Ma |
| author_sort | Kai Yan |
| collection | DOAJ |
| description | This paper presents a novel approach for navigation in complex and unknown environments. At present, existing local path planners whose control output is the mapping of current sensor data have been widely studied. However, these methods cannot really solve the problem of being trapped by obstacles. We analyzed the reasons and made improvements, and finally our approach can avoid being trapped in complex environments. The proposed method is based on 2D LIDAR. A central part of the approach is finding out gaps in the environment by analyzing sensor data. Then, we choose one of the gaps we find as the sub-goal. Linear and angular velocities are provided by the approach considering nonholonomic mobile robots. The method does not rely on global planners and environment maps. Therefore, it has the advantages of low computational complexity and fast response, which is of great significance to robots with low computing power; it will also help to reduce the manufacturing cost of robots. In addition, simulations and real tests were performed using the Turtlebot2 robotic platform. Successful results are achieved in both simulations and experimental tests. |
| first_indexed | 2024-03-10T15:39:10Z |
| format | Article |
| id | doaj.art-15c25e0b038640f9be51cc6031dd32c8 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T15:39:10Z |
| publishDate | 2020-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-15c25e0b038640f9be51cc6031dd32c82023-11-20T16:58:32ZengMDPI AGSensors1424-82202020-10-012020580210.3390/s20205802Mapless Navigation Based on 2D LIDAR in Complex Unknown EnvironmentsKai Yan0Baoli Ma1The Seventh Research Division, Beihang University, Beijing 100191, ChinaThe Seventh Research Division, Beihang University, Beijing 100191, ChinaThis paper presents a novel approach for navigation in complex and unknown environments. At present, existing local path planners whose control output is the mapping of current sensor data have been widely studied. However, these methods cannot really solve the problem of being trapped by obstacles. We analyzed the reasons and made improvements, and finally our approach can avoid being trapped in complex environments. The proposed method is based on 2D LIDAR. A central part of the approach is finding out gaps in the environment by analyzing sensor data. Then, we choose one of the gaps we find as the sub-goal. Linear and angular velocities are provided by the approach considering nonholonomic mobile robots. The method does not rely on global planners and environment maps. Therefore, it has the advantages of low computational complexity and fast response, which is of great significance to robots with low computing power; it will also help to reduce the manufacturing cost of robots. In addition, simulations and real tests were performed using the Turtlebot2 robotic platform. Successful results are achieved in both simulations and experimental tests.https://www.mdpi.com/1424-8220/20/20/5802local path plannerscomplex environments2D LIDARTurtlebot2 |
| spellingShingle | Kai Yan Baoli Ma Mapless Navigation Based on 2D LIDAR in Complex Unknown Environments Sensors local path planners complex environments 2D LIDAR Turtlebot2 |
| title | Mapless Navigation Based on 2D LIDAR in Complex Unknown Environments |
| title_full | Mapless Navigation Based on 2D LIDAR in Complex Unknown Environments |
| title_fullStr | Mapless Navigation Based on 2D LIDAR in Complex Unknown Environments |
| title_full_unstemmed | Mapless Navigation Based on 2D LIDAR in Complex Unknown Environments |
| title_short | Mapless Navigation Based on 2D LIDAR in Complex Unknown Environments |
| title_sort | mapless navigation based on 2d lidar in complex unknown environments |
| topic | local path planners complex environments 2D LIDAR Turtlebot2 |
| url | https://www.mdpi.com/1424-8220/20/20/5802 |
| work_keys_str_mv | AT kaiyan maplessnavigationbasedon2dlidarincomplexunknownenvironments AT baolima maplessnavigationbasedon2dlidarincomplexunknownenvironments |