自主移动机器人导航与障碍物避障算法的提出
Proposal of algorithms for navigation and obstacles avoidance of autonomous mobile robot
AI总结：
本文提出算法用于室内自主移动机器人导航与避障，利用激光雷达获取3D环境图像，通过改进的向量场直方图算法生成2D地图并控制轨迹跟踪，实验结果良好。
摘要：
本文提出了用于室内自主移动机器人导航和避障的算法。使用激光雷达获取环境的3D图像，提出新的3D到2D图像压力和障碍物检测（IPaBD）算法，用于生成2D全局地图。该地图是设计轨迹的基础。开发了跟踪控制器以使机器人跟随轨迹。利用超声波传感器处理障碍物避障问题。提出了改进的向量场直方图（改进的VFH）算法，以克服原始VFH的一些限制。已进行实验，结果令人鼓舞。
英文摘要：
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers detection (IPaBD), is proposed to create a 2D global map from the 3D images. This map is basic to design the trajectory. A tracking controller is developed to control the robot to follow the trajectory. The obstacle avoidance is addressed with the use of sonar sensors. An improved vector field histogram (Improved-VFH) algorithm is presented with improvements to overcome some limitations of the original VFH. Experiments have been conducted and the result is encouraged.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
