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Real Time Obstacle Avoidance and Navigation with Mobile Robot via Local Elevation Information

This paper considers the real-time navigation and obstacle avoidance of mobile robots in complex environments. A novel local environment perception and navigation framework for mobile robot navigation based on the elevation information is proposed. A local elevation map is introduced to perceive and map obstacles in the local environment. Calculating obstacles’ heights and shapes by local elevation maps, the terrain traversability of the surrounding environment of a robot is determined, and a two-dimensional local occupancy grid map for robot path planning and navigation in local environment is generated. The effectiveness of our approach is validated experimentally through real-time navigation and obstacle avoidance in the artificial environment. The experimental results show that using the proposed framework, a mobile robot can safely reach its target position while avoiding the non-crossable area. For indoor mobile robots with limited computing power, in complex environments, it could provides more safe navigation and path-planning.