Research of Autonomous Navigation Strategy for an Outdoor Mobile Robot

摘要

A kind of autonomous navigation strategy for an outdoor mobile robot is proposed in the real world environment. Encoder disk, electronic compass and GPS are used in the dead reckoning system of outdoor mobile robot. To reduce dead reckoning error, the extend Kalman filter method is adopted to realize data fusion from encoder disk and electronic compass. GPS receiver is used to correct the dead reckoning data to eliminate the accumulation error of the dead reckoning. Laser range finder is used to detect the obstacle and establish the environment map. Filed D* algorithm and DWA method are used to realize the obstacle avoidance and path planning. The experimental results show that the outdoor mobile robot can realize the autonomous navigation under the complex road condition.