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[会议论文]

Mobile Robot Parallel PF-SLAM Based on OpenMP

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作者:

Jia, Songmin (Jia, Songmin.) (学者:贾松敏) | Yin, Xiaolin (Yin, Xiaolin.) | Li, Xiuzhi (Li, Xiuzhi.)

收录:

CPCI-S

摘要:

This paper presents an effective Simultaneous Localization and Map Building (SLAM) technique for indoor mobile robot navigation based on OpenMP. Particle Filter (PF) based SLAM provides an effective indoor mobile robot navigation framework, but real-time performance of PF needs improving due to their inherent complex and intensive computation. OpenMP is the product of the multi-core technology development and has been widely accepted by both industry and academia. We propose a multi-thread particles filter algorithm based on OpenMP to reduce computation time of PF and execution time of SLAM. The results in real experiments and simulations show that the parallel PF-SLAM algorithm based on OpenMP could reduce the SLAM execution time while guaranteeing the accuracy of SLAM.

关键词:

SLAM Particle Filter OpenMP Mobile robot

作者机构:

  • [ 1 ] [Jia, Songmin]Beijing Univ Technol, Coll Elect Informat & Control Engn, Beijing, Peoples R China
  • [ 2 ] [Li, Xiuzhi]Beijing Univ Technol, Coll Elect Informat & Control Engn, Beijing, Peoples R China

通讯作者信息:

  • 贾松敏

    [Jia, Songmin]Beijing Univ Technol, Coll Elect Informat & Control Engn, Beijing, Peoples R China

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相关文章:

来源 :

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)

年份: 2012

语种: 英文

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