2022
DOI: 10.3390/app12062913
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Map Construction and Path Planning Method for a Mobile Robot Based on Multi-Sensor Information Fusion

Abstract: In order to solve the path planning problem of an intelligent vehicle in an unknown environment, this paper proposes a map construction and path planning method for mobile robots based on multi-sensor information fusion. Firstly, the extended Kalman filter (EKF) is used to fuse the ambient information of LiDAR and a depth camera. The pose and acceleration information of the robot is obtained through the pose sensor. The SLAM algorithm based on a fusion of LiDAR, a depth camera, and the inertial measurement uni… Show more

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Cited by 20 publications
(12 citation statements)
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“…A realistic mapping, simulation, and feedback adjustment are all functions of the simulated model in the field of robotics. Following a series of simulation tests in the MATLAB simulation environment, the proper operational parameters are chosen and supplied to the empirical entity in order to obtain control of the virtual model over the practical robot [2]. Before the experiment starts, set consistent settings for the electric actuator's and the two-wheeled robot's movements.…”
Section: Resultsmentioning
confidence: 99%
See 1 more Smart Citation
“…A realistic mapping, simulation, and feedback adjustment are all functions of the simulated model in the field of robotics. Following a series of simulation tests in the MATLAB simulation environment, the proper operational parameters are chosen and supplied to the empirical entity in order to obtain control of the virtual model over the practical robot [2]. Before the experiment starts, set consistent settings for the electric actuator's and the two-wheeled robot's movements.…”
Section: Resultsmentioning
confidence: 99%
“…On the other hand, a local path establishes a route by identifying obstacles in real time using a variety of sensors (such as cameras, LiDAR sensors, laser sensors, ultrasonic sensors, and sensors for sound and heat). According to Li et al [2], a robot going through an unfamiliar ecosystem can estimate its own pose using position and map data, and it can even create a progressive map as it moves. This allows the robot to execute autonomous obstacle avoidance and navigation.…”
Section: Related Workmentioning
confidence: 99%
“…In ideal odometry motion model, the change of yaw angle ∆q1 is related to the distance offset (∆x1, ∆y1) between {M} and {R} as (1). Similarly, ∆q2 is affect by (∆x2, ∆y2) during motion for actual odometry as (2).…”
Section: Coordinate Systems and Motion Model Of A Twddm Modelmentioning
confidence: 99%
“…For complex indoor operating environments like factories, wheeled mobile robots possess the advantages of flexible configuration and excellent expandability. They can be equipped with robotic arms to perform a variety of tasks and seamlessly integrate multiple sensors for real-time feedback of information [2].…”
Section: Introductionmentioning
confidence: 99%
“…This is due to the limitations of standard path planning algorithms, which are incapable of performing the desired tasks in dynamic or unstructured environments where the system lacks prior knowledge and/or already existing maps [19]. Artificial potential fields, simulated annealing, fuzzy logic, artificial neural networks, and dynamic window [20] approaches are some of the algorithms that have been used in robot local path planning [21]. An optimal local path planning approach should enable robots to adaptably deal with their environments, such as assisting in avoiding dynamic obstacles or identifying traversable routes through varying terrain conditions.…”
Section: Introductionmentioning
confidence: 99%