Zihong Yan — accepted AI-conference papers

2024

RH-Map: Online Map Construction Framework of Dynamic Object Removal Based on 3D Region-Wise Hash Map Structure

Zihong Yan, Xiaoyi Wu, Zhuozhu Jian, Bin Lan, Xueqian Wang

RA-L 2024

Mobile robots navigating in outdoor environments frequently encounter the issue of undesired traces left by dynamic objects and manifested as obstacles on map, impeding robots from achieving accurate localization and effective navigation. To tackle the problem, a novel map construction framework bas

Cited by 14 Source ↗code ↗Scholar ↗

2023

Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot

Zhuozhu Jian, Zihong Yan, Xuanang Lei, Zihong Lu, Bin Lan, Xueqian Wang +1

ICRA 2023poster

This paper presents an efficient and safe method to avoid static and dynamic obstacles based on LiDAR. First, point cloud is used to generate a real-time local grid map for obstacle detection. Then, obstacles are clustered by DBSCAN algorithm and enclosed with minimum bounding ellipses (MBEs). In ad…

Cited by 94 Source ↗code ↗Scholar ↗