Navigation research on outdoor miniature reconnaissance robot

摘要

Miniature robot has becoming a preferable choice for outdoor reconnaissance task due to its flexibility. However, miniature robot tends to have poor navigation ability because of the limited perception ability coming with the constrained space. This paper focus on the navigation problem of outdoor miniature reconnaissance robot with limited sensing ability in unknown obstacles environment. In this paper, Global Position System (GPS), magnetometer and infrared distance sensor based artificial potential filed method is adopted to navigation robot go through obstacles. Meanwhile, local minimum trapped detection has been analyzed. Simulations and experiment proves the effectiveness of proposed method.