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赵鹏程
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Personal Information
  • Supervisor of Master's Candidates
  • Name (Pinyin):Zhao Pengcheng
  • Date of Birth:1993-09-05
  • E-Mail:
  • Date of Employment:2019-12-07
  • Administrative Position:高级实验师
  • Education Level:With Certificate of Graduation for Doctorate Study
  • Business Address:武汉大学信息学部遥感信息工程学院（5号楼）315办公室
  • Gender:Male
  • Contact Information:+86 15972003670
  • Status:Employed
  • Alma Mater:武汉大学
  • Teacher College:School of Remote Sensing and Information Engineering
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Paper Publications
Current position: Home   >   Scientific Research   >   Paper Publications

An Eight-Direction Scanning Detection Algorithm for the Mapping Robot Pathfinding in Unknown Indoor Environment

  • Date of Publication:2025-01-07
  • Hits:

  • DOI number: 

    10.3390/s18124254

  • Affiliation of Author(s): 

    School of Remote Sensing and Information Engineering, Wuhan University, China

  • Journal: 

    SENSORS

  • Key Words: 

    eight-direction scanning detection,unknown indoor environment,mapping robot,pathfinding,autonomous obstacle avoidance

  • Abstract: 

    Aiming at the problem of how to enable the mobile robot to navigate and traverse efficiently and safely in the unknown indoor environment and map the environment, an eight-direction scanning detection (eDSD) algorithm is proposed as a new pathfinding algorithm. Firstly, we use a laser-based SLAM (Simultaneous Localization and Mapping) algorithm to perform simultaneous localization and mapping to acquire the environment information around the robot. Then, according to the proposed algorithm, the 8 certain areas around the 8 directions which are developed from the robot's center point are analyzed in order to calculate the probabilistic path vector of each area. Considering the requirements of efficient traverse and obstacle avoidance in practical applications, the proposal can find the optimal local path in a short time. In addition to local pathfinding, the global pathfinding is also introduced for unknown environments of large-scale and complex structures to reduce the repeated traverse. The field experiments in three typical indoor environments demonstrate that deviation of the planned path from the ideal path can be kept to a low level in terms of the path length and total time consumption. It is confirmed that the proposed algorithm is highly adaptable and practical in various indoor environments.

  • Co-author: 

    Le,Wu, Wei,Dong, Qingwu,Hu, Mingyao, Jiayuan,Li, Pengcheng,Jiang, Xuan,Ai,Zhao

  • Indexed by: 

    Journal paper

  • Discipline: 

    Engineering

  • Document Type: 

    J

  • Volume: 

    18

  • Issue: 

    12

  • Translation or Not: 

    no

  • CN No.: 

    WOS:000454817100173

  • Date of Publication: 

    2018-12-01

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