SLAM and path planning of mobile robot in ROS framework / 医疗卫生装备
Chinese Medical Equipment Journal
;
(6): 109-113, 2017.
Artículo
en Chino
| WPRIM
| ID: wpr-510013
ABSTRACT
Objective To realize SLAM and path planning of mobile robot to solve the problem of real-time data association in the process of moving and to update the computational complexity of the state covariance matrix.Methods The mathematical model of SLAM was built,and FastSlam algorithm based on particle filter,A* and dynamic window approach (DWA) were used to prepare gmapping function package in the ROS framework.Results The motion simulation,path planning and dynamic obstacle avoidance of mobile robot in the ROS framework were realized.Conclusion By using ROS platform,mobile robots can execute path planning efficiently while completing self-localization and map building.
Texto completo:
Disponible
Índice:
WPRIM (Pacífico Occidental)
Idioma:
Chino
Revista:
Chinese Medical Equipment Journal
Año:
2017
Tipo del documento:
Artículo
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