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- W4366127907 abstract "Aiming at the problem that the current local path planning algorithm treats moving obstacles as transient static ones when avoiding obstacles, lacking initiative and security, a local path planning algorithm combining dynamic obstacle motion state is proposed. Firstly, the position information of all obstacles is obtained by a single scan LIDAR. Then, segmenting and linearly fitting all laser point clouds, removing the known obstacles in the map; and marking possible emerging dynamic obstacles with circles of appropriate size; then detecting the dynamic obstacles through the change of the coordinates of the center of the circle, obtaining the center coordinates of the dynamic obstacles continuously; thus, the equation of motion is solved by using the least squares. Finally, the cost map of dynamic obstacles is expanded in the direction of velocity, by combining DWA dynamic window method to realize avoiding dynamic obstacles safely. In this paper, through the simulation experiments and real environment experiments of robot meeting scenes from multiple angles, the results show that expanding the cost map of the motion direction of the dynamic obstacles provides more sufficient response space for the robot to avoid the dynamic obstacles. Compared with the original DWA, the algorithm in this paper can avoid dynamic obstacles more safely, which proves the security and feasibility of this algorithm." @default.
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- W4366127907 date "2023-01-01" @default.
- W4366127907 modified "2023-10-16" @default.
- W4366127907 title "Local Path Planning Combined with the Motion State of Dynamic Obstacles" @default.
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- W4366127907 doi "https://doi.org/10.1007/978-981-99-1549-1_46" @default.
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