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Mobile robot navigation based on EWA with adaption of particle filter and map merging algorithms for localization and mapping

活动机器人航行基于有为本地化合并算法并且印射的粒子过滤器和地图的改编的 EWA

作     者:Saitov, Dilshat Lee, Suk Gyu 

作者机构:Yeungnam Univ Dept Elect Engn Kyongsan 712749 South Korea 

出 版 物:《INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING》 (精密工程与制造业国际杂志)

年 卷 期:2011年第12卷第3期

页      面:451-459页

核心收录:

学科分类:08[工学] 080401[工学-精密仪器及机械] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 081102[工学-检测技术与自动化装置] 0811[工学-控制科学与工程] 

基  金:Korea government(MEST) [2009-0074464] Ministry of Education, Science Technology (MEST) National Research Foundation of Korea(NRF) [I 100101] 

主  题:Navigation Mapping Localization Multi-robot System Wave Algorithm 

摘      要:This paper mainly focuses on the improvement of the navigation in mobile robot systems. There are three key components of a mobile robot system such as the ability to localize itself accurately and, simultaneously, to build a map of the surroundings, and finally to navigate effectively in an unknown environment. This paper mainly focused on the establishment of a methodology to model the control system that optimizes the behavior rules using EWA (Extended Wave Algorithm). Heuristic method of the EWA lies in finding the most prospective destination point, while navigation based on WA (Wave Algorithm) always uses the closest frontier cell as the next destination point. Also, this paper takes into account map merging and particle filter as map building and localization techniques, respectively. The overall algorithm has been tested extensively in simulation runs. The results given in this paper demonstrate that our algorithm significantly reduces the exploration time compared to previous approaches.

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