Development of WV-SLAM Algorithm and Achieving the Path Planning Using a Laser Scanner

in International Symposium (oral presentation paper), 國際研討會(全文口頭發表)
標題Development of WV-SLAM Algorithm and Achieving the Path Planning Using a Laser Scanner
AuthorsGuo-Shing Huang, 黃國興, G. R. Chou 周泉隆, & Chung-Liang Chang 張仲良
出版日期Dec 1 2012 12:0

To construct a map of the environment in the traditional simultaneous localization and map of the envi-ronment (SLAM) is very easy to do and complete the posi-tioning of target at the same time. However, due to the cumulative error of the sensing element or the vehicle state estimation error will cause the error of the entire environ-mental map, and thus the efficiency of SLAM will be re-duced. This paper presents to improve its efficiency using the predict-based SLAM algorithm to explore the weight value (called WV-SLAM). That is used to predict the envi-ronment range in unexplored region with the environmen-tal structure prediction (perspective drawings). The build environmental map representation is to utilize the Grid based algorithm to give the label, then the environment is divided into the global map and the local map. The global map is used to access all environmental messages, but the local map is used to update the accessed messages of the global map. This article proposes to use the combination of a real-time obstacle avoidance and referred WV-SLAM method can explore the obstacles in the environment, and perform exploration missions on a more secure manner, while the mobile robot walks to avoid the collision with ob-stacles. Through computer simulation and experimental results, it is verified that the location of mobile robot can be estimated by the proposed WV-SLAM algorithm to im-prove performance in indoor environments, give more ac-curate map of the environment, and achieve the function of real-time positioning, navigation and path planning.

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