Szczegóły publikacji
Opis bibliograficzny
3D environment exploration with SLAM for autonomous mobile robot control / Andrii KUDRIASHOV, Tomasz BURATOWSKI, Jerzy Garus, Mariusz GIERGIEL // WSEAS Transactions on Systems and Control ; ISSN 1991-8763. — 2021 — vol. 16, s. 450–456. — Bibliogr. s. 455-456, Abstr. — Publikacja dostępna online od: 2021-08-02
Autorzy (4)
Słowa kluczowe
Dane bibliometryczne
| ID BaDAP | 135912 |
|---|---|
| Data dodania do BaDAP | 2021-09-29 |
| Tekst źródłowy | URL |
| DOI | 10.37394/23203.2021.16.40 |
| Rok publikacji | 2021 |
| Typ publikacji | artykuł w czasopiśmie |
| Otwarty dostęp |  |
| Creative Commons | |
| Czasopismo/seria | WSEAS Transactions on Systems and Control |
Abstract
In the paper a solution for building of 3D map of unknown terrain for the purposes of control of wheeled autonomous mobile robots operating in an isolated and hard-access area is described. The work environment is represented by a three-dimensional occupancy grid map built with SLAM techniques using LIDAR sensor system. Probabilistic methods such as adaptive Monte Carlo localization and extended Kalman filter are used to concurrently build a map of surroundings and a robot’s pose estimation. A robot’s displacement and orientation are obtained from odometry and inertial navigation system. All algorithms and sub-systems have been implemented and verified with Robot Operation System with a framework for exploration tasks in multi-level buildings.