Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers stud...Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers study SLAM by using laser scanners,sonar,camera,etc.This paper proposes a method that consists of a Kinect sensor along with a normal laptop to control a small mobile robot for collecting information and building a global map of an unknown environment on a remote workstation.The information(depth data)is communicated wirelessly.Gmapping(a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data)parameters have been optimized to improve the accuracy of the map generation and the laser scan.Experiment is performed on Turtlebot to verify the effectiveness of the proposed method.展开更多
基金National Natural Science Foundation of China(Nos.51475328,61372143,61671321)
文摘Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers study SLAM by using laser scanners,sonar,camera,etc.This paper proposes a method that consists of a Kinect sensor along with a normal laptop to control a small mobile robot for collecting information and building a global map of an unknown environment on a remote workstation.The information(depth data)is communicated wirelessly.Gmapping(a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data)parameters have been optimized to improve the accuracy of the map generation and the laser scan.Experiment is performed on Turtlebot to verify the effectiveness of the proposed method.
