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A navigation algorithm of the mobile robot in the indoor and dynamic environment based on the PF-SLAM algorithm
YuPei Yan; SengFat Wong
2018-03
Source PublicationCluster Computing
ISSN1386-7857
Abstract

This paper proposes a navigation algorithm for the mobile robot which can save lots of running distances, running time and mechanical loss of the mobile robot, usually the real mobile robot is established on the embedded system and works in the indoor and dynamic environment, so this paper proposes a new algorithm to obtain the accurate moving direction of the mobile robot where the GPS and corresponding sensors are unavailable, it also proposes a navigation algorithm for the mobile robot in the dynamic environment based on the PF-SLAM algorithm which combines the Particle Filter and FASTSLAM algorithm, they are very suitable running on the embedded system because it avoids the large complex computation, finally the simulation of the proposed algorithm is shown in the paper, the corresponding real experiment is carried out to prove the effectiveness of the algorithm for the mobile robot in our laboratory dynamic environment.
 

KeywordNavigation Mobile Robot Particle Filter Pf-slam
DOIhttps://doi.org/10.1007/s10586-018-2271-3
Language英语
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Document TypeJournal article
CollectionFaculty of Science and Technology
DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Corresponding AuthorYuPei Yan
AffiliationDepartment of Electromechanical Engineering, University of Macau, Macao, China
First Author AffilicationUniversity of Macau
Corresponding Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
YuPei Yan,SengFat Wong. A navigation algorithm of the mobile robot in the indoor and dynamic environment based on the PF-SLAM algorithm[J]. Cluster Computing,2018.
APA YuPei Yan,&SengFat Wong.(2018).A navigation algorithm of the mobile robot in the indoor and dynamic environment based on the PF-SLAM algorithm.Cluster Computing.
MLA YuPei Yan,et al."A navigation algorithm of the mobile robot in the indoor and dynamic environment based on the PF-SLAM algorithm".Cluster Computing (2018).
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