A Robot's Navigation Method Based on Information Fusion in Dynamic Unknown Environment

摘要

An autonomous navigation method of robot in dynamic unknown environment is presented. Human's assistance is used instead of particular description of map. There are two phases in this method. In phase of human's guiding, a rough map of local environment is obtained by sensor fusion. According to polar map, robot moves in dynamic environment in the phase of autonomous navigation. Emergent obstacles are disposed of in this method, and optimization of path is also attained. Experiment results show the effectiveness of this method.