Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning

Qifeng Yang (University of Chinese Academy of Sciences, Beijing, China; Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China and Shenyang SIASUN Robot and Automation Co., Ltd, Shenyang, China)
Daokui Qu (University of Chinese Academy of Sciences, Beijing, China; Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China and Shenyang SIASUN Robot and Automation Co., Ltd, Shenyang, China)
Fang Xu (University of Chinese Academy of Sciences, Beijing, China; Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China and Shenyang SIASUN Robot and Automation Co., Ltd, Shenyang, China)
Fengshan Zou (Shenyang SIASUN Robot and Automation Co., Ltd, Shenyang, China)
Guojian He (School of Control Science and Engineering, Dalian University of Technology, Dalian, China)
Mingze Sun (Shenyang SIASUN Robot and Automation Co., Ltd, Shenyang, China)

Assembly Automation

ISSN: 0144-5154

Publication date: 5 August 2019

Abstract

Purpose

This paper aims to propose a series of approaches to solve the problem of the mobile robot motion control and autonomous navigation in large-scale outdoor GPS-denied environments.

Design/methodology/approach

Based on the model of mobile robot with two driving wheels, a controller is designed and tested in obstacle-cluttered scenes in this paper. By using the priori “topology-geometry” map constructed based on the odometer data and the online matching algorithm of 3D-laser scanning points, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control.

Findings

A series of experiments are conducted with a self-designed mobile robot platform in large-scale outdoor environments, and the experimental results show the validity and effectiveness of the proposed approach.

Originality/value

The problem of motion control for a differential drive mobile robot is investigated in this paper first. At the same time, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control.

Keywords

Acknowledgements

This work was supported in part by the National Natural Science Foundation of China (U1608253).

Citation

Yang, Q., Qu, D., Xu, F., Zou, F., He, G. and Sun, M. (2019), "Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning", Assembly Automation, Vol. 39 No. 3, pp. 469-478. https://doi.org/10.1108/AA-02-2018-029

Publisher

:

Emerald Publishing Limited

Copyright © 2018, Emerald Publishing Limited

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