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Zhu X, Qiu C, Deng F, Pang S, Ou Y. Cloud-based Real-time Outsourcing Localization for a Ground Mobile Robot in Large-scale Outdoor Environments. J FIELD ROBOT 2017. [DOI: 10.1002/rob.21712] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Xiaorui Zhu
- State Key Laboratory of Robotics and System (HIT); Harbin Institute of Technology (Shenzhen); Shenzhen Guangdong 518055 China
| | - Chunxin Qiu
- State Key Laboratory of Robotics and System (HIT); Harbin Institute of Technology (Shenzhen); Shenzhen Guangdong 518055 China
| | - Fucheng Deng
- State Key Laboratory of Robotics and System (HIT); Harbin Institute of Technology (Shenzhen); Shenzhen Guangdong 518055 China
| | - Su Pang
- State Key Laboratory of Robotics and System (HIT); Harbin Institute of Technology (Shenzhen); Shenzhen Guangdong 518055 China
| | - Yongsheng Ou
- Shenzhen Institutes of Advanced Technology; Chinese Academy of Sciences; Shenzhen Guangdong 518055 China
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Zhang B, Liu Y, Lu Q, Wang J. A path planning strategy for searching the most reliable path in uncertain environments. INT J ADV ROBOT SYST 2016. [DOI: 10.1177/1729881416657751] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022] Open
Abstract
A path planning method for searching the most reliable path in uncertain environments is proposed in this article. When a robot chases a target in a semi-structured workspace with hazards and uncertainty, which path it takes is of great matter as different paths can lead to diverse risks. To “enlighten” the robot on a wiser choice, a reliability-based topological map is built, in which it is possible to add uncertainty information such as threats and road condition to topological nodes. With this map, the robot is possible to minimize risks in carrying out a target search task. Further simulation and physical-world experiments indicate that the most reliable path method generates a path a bit longer, following which the robot encounters less risks.
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Affiliation(s)
- Botao Zhang
- Institute of Automation, Hangzhou Dianzi University, Hangzhou, China
| | - Yong Liu
- Institute of Automation, Hangzhou Dianzi University, Hangzhou, China
| | - Qiang Lu
- Institute of Automation, Hangzhou Dianzi University, Hangzhou, China
| | - Jian Wang
- Institute of Automation, Hangzhou Dianzi University, Hangzhou, China
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