2D Lidar-Based SLAM and Path Planning for Indoor Rescue Using Mobile Robots
Joint Authors
Xu, Dongliang
Zhang, Xuexi
Lai, Jiajun
Li, Huaijun
Fu, Minyue
Source
Journal of Advanced Transportation
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-11-17
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
As the basic system of the rescue robot, the SLAM system largely determines whether the rescue robot can complete the rescue mission.
Although the current 2D Lidar-based SLAM algorithm, including its application in indoor rescue environment, has achieved much success, the evaluation of SLAM algorithms combined with path planning for indoor rescue has rarely been studied.
This paper studies mapping and path planning for mobile robots in an indoor rescue environment.
Combined with path planning algorithm, this paper analyzes the applicability of three SLAM algorithms (GMapping algorithm, Hector-SLAM algorithm, and Cartographer algorithm) in indoor rescue environment.
Real-time path planning is studied to test the mapping results.
To balance path optimality and obstacle avoidance, A∗ algorithm is used for global path planning, and DWA algorithm is adopted for local path planning.
Experimental results validate the SLAM and path planning algorithms in simulated, emulated, and competition rescue environments, respectively.
Finally, the results of this paper may facilitate researchers quickly and clearly selecting appropriate algorithms to build SLAM systems according to their own demands.
American Psychological Association (APA)
Zhang, Xuexi& Lai, Jiajun& Xu, Dongliang& Li, Huaijun& Fu, Minyue. 2020. 2D Lidar-Based SLAM and Path Planning for Indoor Rescue Using Mobile Robots. Journal of Advanced Transportation،Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1180816
Modern Language Association (MLA)
Zhang, Xuexi…[et al.]. 2D Lidar-Based SLAM and Path Planning for Indoor Rescue Using Mobile Robots. Journal of Advanced Transportation No. 2020 (2020), pp.1-14.
https://search.emarefa.net/detail/BIM-1180816
American Medical Association (AMA)
Zhang, Xuexi& Lai, Jiajun& Xu, Dongliang& Li, Huaijun& Fu, Minyue. 2D Lidar-Based SLAM and Path Planning for Indoor Rescue Using Mobile Robots. Journal of Advanced Transportation. 2020. Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1180816
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1180816