As the basic system of the rescue robot, the SLAM system largely determines whether the rescue robot can complete the rescue mission. Although the current 2D Lidar-based SLAM algorithm, including its application in indoor rescue environment, has achieved much success, the evaluation of SLAM algorithms combined with path planning for indoor rescue has rarely been studied. This paper studies mapping and path planning for mobile robots in an indoor rescue environment. Combined with path planning algorithm, this paper analyzes the applicability of three SLAM algorithms (GMapping algorithm, Hector-SLAM algorithm, and Cartographer algorithm) in indoor rescue environment. Real-time path planning is studied to test the mapping results. To balance path optimality and obstacle avoidance, A ∗ algorithm is used for global path planning, and DWA algorithm is adopted for local path planning. Experimental results validate the SLAM and path planning algorithms in simulated, emulated, and competition rescue environments, respectively. Finally, the results of this paper may facilitate researchers quickly and clearly selecting appropriate algorithms to build SLAM systems according to their own demands.

No abstract

No abstract

In classical logic and non-classical logic, Modus Ponens (MP rule) is very useful for a formal deduction. Firstly, we focus on the properties of WLI-ideal of lattice implication algebras based on the definition of ⊕ operation and ⊗ operation, which are abstraction of MP rule. On the other hand, we consider the WLI-ideal topological space (L, T W (L) ) based on LIA, and its topological properties are investigated, it is an abstraction of MP rule-base. Finally, we consider the fuzzification of WLI-ideals in lattice implication algebras, and the properties of FWLI-ideals are investigated.

No abstract