Enhanced D∗ Lite Algorithm for mobile robot navigation
Enhanced D∗ Lite Algorithm for mobile robot navigation
复制标题
用于移动机器人导航的增强型 D* Lite 算法
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
Tee Wee Chien
中科院分区：
文献类型：
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作者：
S. Yun;V. Ganapathy;Tee Wee Chien
移动的机器人在勘探和导航领域有着广泛的应用，要求其在完全未知的动态环境中工作。未知环境是指障碍物的位置未知，动态环境是指障碍物的位置可能随时间变化。本研究的重点是增强现有的<sup>D Lite</sup>算法。现有的<sup>D-Lite</sup>算法是一种目标导向的导航算法，本文提出了一种改进的D-Lite算法。<sup></sup>利用MATLAB对增强型D<sup>-</sup>Lite算法进行仿真，验证了算法的可行性和有效性。接下来，使用Team AmigoBot™实时实现增强型<sup>D Lite</sup>算法。仿真和实时实现的结果证明了该算法的鲁棒性和实用性。
Mobile robot has been widely used in exploration and navigation and it is required to operate in domains that are completely unknown and dynamic. Unknown environment is where the locations of the obstacles are unknown and dynamic environment is where the locations of the obstacles might change with time. This research is focused on enhancing the existing D<sup>∗</sup> Lite Algorithm. Existing D<sup>∗</sup> Lite Algorithm is a goal-directed navigation algorithm and in this research, Enhanced D<sup>∗</sup> Lite Algorithm is developed. Simulation of the Enhanced D<sup>∗</sup> Lite Algorithm is created using MATLAB to verify feasibility and validity of the algorithm. Next, the Enhanced D<sup>∗</sup> Lite Algorithm is implemented in real-time using Team AmigoBot™. The results obtained from both simulation and real-time implementation have proved the robustness and practicality of the enhanced algorithm.