ARTICLE
A collision avoidance algorithm in Simultaneous Localization and Mapping problem for mobile platforms
1
Łukasiewicz Research Network – Institute of Aviation, Engineering Design Center, Warsaw, Poland
2
Warsaw University of Technology, Faculty of Power and Aeronautical Engineering, 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
Corresponding author
Tomasz Małecki
Engineering Design Center, Łukasiewicz Research Network – Institute of Aviation, Al. Krakowska 110/114, 02-256, Warsaw, Poland
Engineering Design Center, Łukasiewicz Research Network – Institute of Aviation, Al. Krakowska 110/114, 02-256, Warsaw, Poland
Journal of Theoretical and Applied Mechanics 2022;60(2):317-328
KEYWORDS
TOPICS
ABSTRACT
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.
Bailey T., Durrant-Whyte H., 2006, Simultaneous localization and mapping (SLAM): Part II, IEEE Robotics and Automation Magazine, 13, 3, 108-117.
2.
Castellanos J.A., Neira J., Tardós J.D., 2004, Limits to the consistency of EKF-based SLAM, IFAC Proceedings Volumes (IFAC-PapersOnline), 37, 8,.
3.
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.
4.
Durrant-Whyte H., Bailey T., 2006, Simultaneous localization and mapping: Part I, IEEE Robotics and Automation Magazine, 13, 2, 99-110.
5.
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.
6.
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.
7.
Leonard J.J., Feder H.J.S., 2001, Decoupled stochastic mapping (for mobile robot and AUV navigation), IEEE Journal of Oceanic Engineering, 26, 4, 561-571.
8.
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.
9.
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.
10.
Sola J., 2013, Simulataneous localization and mapping with the extended Kalman filter, unpublished, Available: http://www.joansola.eu/JoanSol....
11.
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.
12.
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.
Share
RELATED ARTICLE
| eISSN: | 2543-6309 |
| ISSN: | 1429-2955 |
We process personal data collected when visiting the website. The function of obtaining information about users and their behavior is carried out by voluntarily entered information in forms and saving cookies in end devices. Data, including cookies, are used to provide services, improve the user experience and to analyze the traffic in accordance with the Privacy policy. Data are also collected and processed by Google Analytics tool (more).
You can change cookies settings in your browser. Restricted use of cookies in the browser configuration may affect some functionalities of the website.
You can change cookies settings in your browser. Restricted use of cookies in the browser configuration may affect some functionalities of the website.
