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

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.

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