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.
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Acknowledgements
Project supported by the National Nature Science Foundation of China (No. 61262059 and No. 31460248).
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Jiang, D., Yuan, L. (2017). Differential Wheeled Robot Navigation Based on the Smoothing A* Algorithm and Dead-Reckoning. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_51
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DOI: https://doi.org/10.1007/978-3-319-48036-7_51
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