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.
REFERENCES(12)
1.
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Dissanayake M.W.M.G., Newman P., Clark S., Durrant-Whyte H.F., Csorba M., 2001, A solution to the simultaneous localization and map building (SLAM) problem, IEEE Transactions on Robotics and Automation, 17, 3, 229-241.
Fan X., Guo Y., Liu H., Wei B., Lyu W., 2020, Improved artificial potential field method applied for AUV path planning, Mathematical Problems in Engineering, 2020, 1, 1-21.
Julier S.J., Uhlmann J.K., 2001, A counter example to the theory of simultaneous localization and map building, Proceedings of the IEEE International Conference on Robotics and Automation, 4, 4238-4243.
Moreno L., Garrido S., Blanco D., Muñoz M.L., 2009, Differential evolution solution to the SLAM problem, Robotics and Autonomous Systems, 57, 4, 441-450.
Siemiątkowska B., Szklarski J., Gnatowski M., 2011, Mobile robot navigation with the use of semantic map constructed from 3D laser range scans, Control and Cybernetics, 40, 1.
Tardós J.D., Neira J., Newman P.M., Leonard J.J., 2002, Robust mapping and localization in indoor environments using sonar data, International Journal of Robotics Research, 21, 4, 311-330.
Thrun S., Koller D., Ghahramani Z., Durrant-Whyte H., Ng A.Y., 2004, Simultaneous mapping and localization with sparse extended information filters: Theory and initial results, [In:] Algorithmic Foundations of Robotics V. Springer Tracts in Advanced Robotics, J.D. Boissonnat, J. Burdick, K. Goldberg, S. Hutchinson (Edit.), 7, 363-380.
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