Localization/mapping motion control system for a mobile robot

Jr-Syu Yang; Chiun-Shiang Su; Chan-Yun Yang

doi:10.1117/12.916655

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15 November 2011 Localization/mapping motion control system for a mobile robot

Jr-Syu Yang, Chiun-Shiang Su, Chan-Yun Yang

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Proceedings Volume 8321, Seventh International Symposium on Precision Engineering Measurements and Instrumentation; 83210J (2011) https://doi.org/10.1117/12.916655
Event: Seventh International Symposium on Precision Engineering Measurements and Instrumentation, 2011, Yunnan, China

Abstract

The objective of this paper is to design a mobile robot with automatic motion behaviors and obstacle avoidance functions. The robot is also able to make the SLAM (Simultaneous Localization And Mapping) at an unknown environment. The robot position is calculated by the developed software program from the motor encoders. An obstacle avoidance controller is developed by the fuzzy theory. A LRF(laser ranger finder) is installed on the robot. The sensing data of this LRF are applied to calculate the environmental information for the obstacle avoidance controller. Then, the ICP (Iterative Closest Point) algorithm is applied to compare the position error of the environmental data in order to obtain the estimated position of the LRF. Finally, these estimated position data are used to calculate the final SLAM of this mobile robot. Both the simulation and experimental results show that this developed robot system work very well. Key word: SLAM, obstacle avoidance, ICP(Iterative Closest Point), LRF(laser range finder).

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Jr-Syu Yang, Chiun-Shiang Su, and Chan-Yun Yang "Localization/mapping motion control system for a mobile robot", Proc. SPIE 8321, Seventh International Symposium on Precision Engineering Measurements and Instrumentation, 83210J (15 November 2011); https://doi.org/10.1117/12.916655

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