Active SLAM in 3D deformable environments

Mengya Xu1,2; Liang Zhao2; Shoudong Huang2; Qi Hao1,3

10.1109/IROS47612.2022.9982224

2022

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0858

978-1-6654-7928-8

2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

7952-7958

OCT 23-27, 2022

null,Kyoto,JAPAN

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

This paper considers active SLAM problem for 3D deformable environments where the trajectory of the robot is planned to optimize the SLAM results. A planning strategy combining an efficient global planner with an accurate local planner is proposed to solve the problem. Simulation results under different scenarios have shown that the proposed active SLAM algorithm provides a good balance between accuracy and efficiency as compared to the local planner and the global planner. The MATLAB code of this first active SLAM algorithm for 3D deformable environments is made publicly available.

Simultaneous localization and mapping Three-dimensional displays Codes Simulation Trajectory Planning Intelligent robots

第一 ; 通讯

英语

CPCI-S

Science and Technology Innovation Committee of Shenzhen City[JCYJ20200109141622964]

Automation & Control Systems ; Computer Science ; Engineering ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics

WOS:000909405300080

Web of Science

1.Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, China.
2.Robotics Institute, University of Technology Sydney, NSW 2008, Australia.
3.Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology, Shenzhen, Guangdong, China.

Mengya Xu,Liang Zhao,Shoudong Huang,et al. Active SLAM in 3D deformable environments[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:7952-7958.