A collision avoidance algorithm in Simultaneous Localization and Mapping problem for mobile platforms
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Łukasiewicz Research Network – Institute of Aviation, Engineering Design Center, Warsaw, Poland
Warsaw University of Technology, Faculty of Power and Aeronautical Engineering, Warsaw, Poland
Tomasz Małecki   

Engineering Design Center, Łukasiewicz Research Network – Institute of Aviation, Al. Krakowska 110/114, 02-256, Warsaw, Poland
Submission date: 2022-01-17
Final revision date: 2022-03-21
Acceptance date: 2022-04-07
Online publication date: 2022-04-30
Publication date: 2022-04-30
Journal of Theoretical and Applied Mechanics 2022;60(2):317–328
A collision avoidance algorithm applicable in simultaneous localization and mapping (SLAM) has been developed with a prospect of an on-line application for mobile platforms to search and map the operation area and avoid contact with obstacles. The algorithm, which was implemented in MATLAB software, is based on a linear discrete-time state transition model for determination of the platform position and orientation, and a ‘force’ points method for collision avoidance and definition of the next-step of platform motion. The proposed approach may be incorporated into real-time applications with limited on-board computational resources.
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