2020
DOI: 10.3390/app10082799
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Mobile Robot Path Planning Using a Laser Range Finder for Environments with Transparent Obstacles

Abstract: Environment maps must first be generated to drive mobile robots automatically. Path planning is performed based on the information given in an environment map. Various types of sensors, such as ultrasonic and laser sensors, are used by mobile robots to acquire data on its surrounding environment. Among these, the laser sensor, which has the property of being able to go straight and high accuracy, is used most often. However, the beams from laser sensors are refracted and reflected when it meets a transparent o… Show more

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Cited by 12 publications
(8 citation statements)
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“…The precision of modern mobile robot sensing technology and equipment (such as radar and LiDAR) is very high, so obstacles can be mapped with high resolution (the number of polygonal vertices of obstacles is proportional to the sensing precision) [21]. Therefore, path planning through classical methods such as visibility graph algorithm is difficult to apply to dynamic environments.…”
Section: Limitation Of Classical Path Planningmentioning
confidence: 99%
“…The precision of modern mobile robot sensing technology and equipment (such as radar and LiDAR) is very high, so obstacles can be mapped with high resolution (the number of polygonal vertices of obstacles is proportional to the sensing precision) [21]. Therefore, path planning through classical methods such as visibility graph algorithm is difficult to apply to dynamic environments.…”
Section: Limitation Of Classical Path Planningmentioning
confidence: 99%
“…Equation (5) shows that ∆s, which denotes the total length of the arc moved along the curve, is proportional to the curvature radius. On the whole, curvature k is shown to be inversely related to ∆s.…”
Section: Curvature Algorithmmentioning
confidence: 99%
“…The information detected is used for recognizing obstacles, map building, and driving, thereby ensuring location detection, collision avoidance, path tracking, lane recognition, etc. [3][4][5][6]. Lane recognition technology, one of the core technologies of ASV, involves a vision-based system and a laser-sensorbased system, among others.…”
Section: Introductionmentioning
confidence: 99%
“…Phase ranging technology is extensively utilized in aviation, aerospace, high-speed railway, and other industries due to its highprecision, high-speed, and high-stability [1] . Its integration with CCD imaging technology has made it an indispensable tool for large-scale and precision measurement applications [2] .…”
Section: Introductionmentioning
confidence: 99%