A hierarchical navigation framework for mobile robots

作者：Zhang Haojie; Xiong Guangming^*; Liu Peng; Zhang Yu; Chen Huiyan

来源：Journal of Computational Information Systems, 2013, 9(7): 2683-2690.

• Autonomous navigation
• Dynamic obstacles
• Hierarchical navigations
• Indoor environment
• Localization
• Planning and control
• Real environments
• Robot operating systems (ROS)

Autonomous navigation is one of the primitive functionalities which mobile robots should have. However, it is still difficult for the robot to navigate in real environments which are so complex and dynamic. In this paper, we present a hierarchical navigation framework for mobile robots. The navigation framework consists of mapping, localization, planning and control. The framework is applied to a Pioneer 3-AT robot for test under Robot Operating System (ROS). The effectiveness of the proposed navigation framework is demonstrated in experiments with the Pioneer 3-AT robot navigating in an indoor environment. Experimental results show that the localization works very well and the robot can navigate to the goal posture without collision with static or dynamic obstacles.

• 出版日期2013
• 单位北京理工大学