SUMMARYThis paper deals with the problem of navigating semi-autonomous mobile robots without global localization systems in unknown environments. We propose a planning-based obstacle avoidance strategy that relies on local maps and a series of short-time coordinate frames. With this approach, simple odometry and range information are sufficient to make the robot to safely follow the user commands. Different from reactive obstacle avoidance strategies, the proposed approach chooses a good and smooth local path for the robot. The methodology is evaluated using a mobile service robot moving in an unknown corridor environment populated with obstacles and people.

中文翻译：

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使用本地信息和随时运动规划器的半自主服务机器人导航

摘要本文讨论了在未知环境中在没有全局定位系统的情况下导航半自主移动机器人的问题。我们提出了一种基于规划的避障策略，该策略依赖于本地地图和一系列短时坐标系。使用这种方法，简单的里程计和范围信息就足以使机器人安全地遵循用户命令。与反应性避障策略不同，所提出的方法为机器人选择了一条良好且平滑的局部路径。该方法使用移动服务机器人在充满障碍物和人员的未知走廊环境中进行评估。