A collision avoidance algorithm in Simultaneous Localization and Mapping problem for mobile platforms

• Autorzy: Małecki Tomasz , Narkiewicz Janusz

Identyfikatory

DOI

10.15632/jtam-pl/149478

• Języki publikacji: EN

Abstrakty

EN

A collision avoidance algorithm applicable in simultaneous localization and mapping (SLAM) has been developed with a prospect of an on-line application for mobile platforms to search and map the operation area and avoid contact with obstacles. The algorithm, which was implemented in MATLAB software, is based on a linear discrete-time state transition model for determination of the platform position and orientation, and a ‘force’ points method for collision avoidance and definition of the next-step of platform motion. The proposed approach may be incorporated into real-time applications with limited on-board computational resources.

Słowa kluczowe

EN

algorithm; modeling; path planning; SLAM

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2022
• Tom: Vol. 60 nr 2
• Strony: 317--328
• Opis fizyczny: Bibliogr 12 poz., rys., tab.

Twórcy

autor

Małecki Tomasz

• Łukasiewicz Research Network – Institute of Aviation, Engineering Design Center, Warsaw, Poland

autor

Narkiewicz Janusz

• Warsaw University of Technology, Faculty of Power and Aeronautical Engineering, Warsaw, Poland

Bibliografia

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