Navigation and Obstacle Avoidance System for Mobile Robots Using Laser Radar

摘要

Reliable navigation system is a key issue for mobile robot systems. Some new real-time navigation and obstacle avoidance methods for mobile robots have already been developed and implemented. First, this paper briefly introduces the laser measurement system (LMS), and presents the structure of the navigation system. Then, a new radar-based obstacle avoidance method for mobile robots is introduced, which uses laser radar to detect obstacles and takes the physical meaning of the vector polar into account, so as to get the best navigation choice. This system is implemented successfully in the CIMRTS (Cruising and Inspecting Mobile Robot for Transformer Substation).