Robot Technology component implementation of the simultaneous path planning and topological mapping algorithm - 文章详情页

作者：

Jia, Songmin (Jia, Songmin.) (学者：贾松敏) | Pang, Xiongwei (Pang, Xiongwei.) | Guo, Bing (Guo, Bing.)

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EI Scopus

摘要：

In　this　paper,　we　present　a　Robot　Technology　component　implementation　of　the　simultaneous　path　planning　and　topological　mapping　algorithm.　Firstly,　Simultaneous　Path　Planning　and　Topological　Mapping　(SP2ATM)　algorithm　is　applied　for　robot　path　planning　and　environment　exploration　with　map　construction　incrementally.　And　at　the　same　time,　Rao-Blackwellized　Particle　Filter　(RBPF)　is　utilized　for　robot＇s　localization　to　improve　the　effectiveness　of　the　path　planning　by　correcting　the　received　data.　Then　to　satisfy　users＇　needs　and　facilitate　users,　we　develop　SP2ATM　component,　RBPF　component,　Graphical　User　Interface　(GUI)　component　and　so　on　with　Robot　Technology　Middleware　(RTM).　In　this　way,　the　users　can　use　the　function　module　only　using　the　interface　without　understanding　the　details　of　encapsulated　components.　Finally,　it　is　verified　that　this　presented　method　is　effective　and　convenient　for　users　by　analyzing　experimental　results　on　the　robot　platform.　©　2013　IEEE.

关键词：

Robotics Middleware Motion planning Robot programming Robots Biomimetics Topology Graphical user interfaces Conformal mapping

作者机构：

[ 1 ] [Jia, Songmin]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China
[ 2 ] [Pang, Xiongwei]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China
[ 3 ] [Guo, Bing]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, China

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