Active SLAM in 3D deformable environments

被引：1
|
作者：
Xu, Mengya [1 ,2 ]
Zhao, Liang [2 ]
Huang, Shoudong [2 ]
Hao, Qi [1 ,3 ]
机构：
[1] Southern Univ Sci & Technol, Dept Comp Sci & Engn, Shenzhen, Peoples R China
[2] Univ Technol Sydney, Robot Inst, Sydney, NSW 2008, Australia
[3] Southern Univ Sci & Technol, Res Inst Trustworthy Autonomous Syst, Shenzhen, Guangdong, Peoples R China
来源：
2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2022年
关键词：
D O I：
10.1109/IROS47612.2022.9982224
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：7952 / 7958
页数：7
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