GPU based real-time SLAM of six-legged robot

Zhang, Xuehe; Li, Ge; Liu, Gangfeng; Zhao, Jie; Hou, Zhenxiu

doi:10.1016/j.micpro.2015.10.008

Cited by 10 publications

(5 citation statements)

References 24 publications

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“…The model had radiation scanning range finders and was connected with two systems which were controlled by computers 14) . In 1976, at Moscow State University, a robot with tabular axial chassis articulated designed leg and 3 degrees of freedom was designed 15) .…”

Section: Early Designmentioning

confidence: 99%

Modelling and Analysis of Hexapod walking Robot

Shrivastava¹,

Diwakar²,

Sehgal³

et al. 2022

Evergreen

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In comparison with the majority of other animals, the spider can access all kinds of environments where other animals or even humans can't. These important attributes are taken into consideration, to design and develop a Hexapod Walking Robot, in order to perform various movements such as ascend and descend in all the directions. Hexapod Robots have always been a centre of attraction for several years. Many universities, research centres, and industries have carried out studies but in the past few years, systematic walking robots have been formulated, fabricated, and built with implementations that can be suitable for experimental demands. The paper presents a model to understand how, mathematically, a hexapod animal walk. The aim is to develop a suitable bio-mimetic model of hexapod walking robot that is lighter in weight with reduced number of motors and easily controllable. Modifications in the design is adopted by using solid works. Thereafter, a detailed analysis of the model is conducted along with the moment and force analysis. Moment analysis is carried out to check the walking capabilities of the legs at extreme joint positions. The robot leg motion is checked by applying loads at which the robot turns to fail and it has been found that the proposed model is suitable to bear different forces while walking to perform any desired task. This research also gives an outline of the design considerations of the Hexapod Walking Robot and a detailed design procedure is also discussed for the feasible and systematic design of a walking robot. In particular, these design procedures covers the main features such as mechanical structure and leg configuration, actuating and driving systems, motion controls, and walking gaits.

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Section: Early Designmentioning

confidence: 99%

Modelling and Analysis of Hexapod walking Robot

Shrivastava¹,

Diwakar²,

Sehgal³

et al. 2022

Evergreen

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show abstract

“…Many methods, based on various principles and different formal approaches, have been proposed for scan matching in the past. However, most of them suffer from high computational costs [16] and only a limited ability to work efficiently in different environments [17] (e.g., the method described in [18] requires an environment with perpendicular walls).…”

Section: Scan Matchingmentioning

confidence: 99%

Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation

Konecny

Prauzek

Krömer

et al. 2016

Mobile Information Systems

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The localization of mobile robots in outdoor and indoor environments is a complex issue. Many sophisticated approaches, based on various types of sensory inputs and different computational concepts, are used to accomplish this task. However, many of the most efficient methods for mobile robot localization suffer from high computational costs and/or the need for high resolution sensory inputs. Scan cross-correlation is a traditional approach that can be, in special cases, used to match temporally aligned scans of robot environment. This work proposes a set of novel modifications to the cross-correlation method that extend its capability beyond these special cases to general scan matching and mitigate its computational costs so that it is usable in practical settings. The properties and validity of the proposed approach are in this study illustrated on a number of computational experiments.

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“…Although localization algorithms using data from LiDAR scanners and inertial measurement units (IMUs) have been intensively studied over the last decade for many applications, there is surprisingly little literature concerning localization relative to triangular mesh maps. The majority of LiDAR-based localization algorithms use landmarks or local object features to localize a robot on a map [ 51 , 52 , 53 ]. However, this approach cannot be adapted to mine galleries and caves because such landmarks are challenging to identify in these environments, especially in long mine galleries and cave corridors.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Parallel-Serial LiDAR-Based Localization Algorithm with Centimeter Accuracy for GPS-Denied Environments

Niedzwiedzki

Niewola

Lipiński

et al. 2020

Sensors

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In this paper, we introduce a real-time parallel-serial algorithm for autonomous robot positioning for GPS-denied, dark environments, such as caves and mine galleries. To achieve a good complexity-accuracy trade-off, we fuse data from light detection and ranging (LiDAR) and an inertial measurement unit (IMU). The proposed algorithm’s main novelty is that, unlike in most algorithms, we apply an extended Kalman filter (EKF) to each LiDAR scan point and calculate the location relative to a triangular mesh. We also introduce three implementations of the algorithm: serial, parallel, and parallel-serial. The first implementation verifies the correctness of our innovative approach, but is too slow for real-time execution. The second approach implements a well-known parallel data fusion approach, but is still too slow for our application. The third and final implementation of the presented algorithm along with the state-of-the-art GPU data structures achieves real-time performance. According to our experimental findings, our algorithm outperforms the reference Gaussian mixture model (GMM) localization algorithm in terms of accuracy by a factor of two.

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GPU based real-time SLAM of six-legged robot

Cited by 10 publications

References 24 publications

Modelling and Analysis of Hexapod walking Robot

Modelling and Analysis of Hexapod walking Robot

Novel Point-to-Point Scan Matching Algorithm Based on Cross-Correlation

Real-Time Parallel-Serial LiDAR-Based Localization Algorithm with Centimeter Accuracy for GPS-Denied Environments

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