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Micro-Platform Verification for LiDAR SLAM-Based Navigation of Mecanum-Wheeled Robot in Warehouse Environment.

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Titel: Micro-Platform Verification for LiDAR SLAM-Based Navigation of Mecanum-Wheeled Robot in Warehouse Environment.
Autoren: Wang, Yue, Ye, Ying Yu, Zhong, Wei, Gao, Bo Lin, Mu, Chong Zhang, Zhao, Ning
Quelle: World Electric Vehicle Journal; Oct2025, Vol. 16 Issue 10, p571, 19p
Schlagwörter: ROBOTIC path planning, MOBILE robots, LIDAR, REINFORCEMENT learning, ALGORITHMS
Abstract: Path navigation for mobile robots critically determines the operational efficiency of warehouse logistics systems. However, the current QR (Quick Response) code path navigation for warehouses suffers from low operational efficiency and poor dynamic adaptability in complex dynamic environments. This paper introduces a deep reinforcement learning and hybrid-algorithm SLAM (Simultaneous Localization and Mapping) path navigation method for Mecanum-wheeled robots, validated with an emphasis on dynamic adaptability and real-time performance. Based on the Gazebo warehouse simulation environment, the TD3 (Twin Deep Deterministic Policy Gradient) path planning method was established for offline training. Then, the Astar-Time Elastic Band (TEB) hybrid path planning algorithm was used to conduct experimental verification in static and dynamic real-world scenarios. Finally, experiments show that the TD3-based path planning for mobile robots makes effective decisions during offline training in the simulation environment, while Astar-TEB accurately completes path planning and navigates around both static and dynamic obstacles in real-world scenarios. Therefore, this verifies the feasibility and effectiveness of the proposed SLAM path navigation for Mecanum-wheeled mobile robots on a miniature warehouse platform. [ABSTRACT FROM AUTHOR]
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Datenbank: Complementary Index
Beschreibung
Abstract:Path navigation for mobile robots critically determines the operational efficiency of warehouse logistics systems. However, the current QR (Quick Response) code path navigation for warehouses suffers from low operational efficiency and poor dynamic adaptability in complex dynamic environments. This paper introduces a deep reinforcement learning and hybrid-algorithm SLAM (Simultaneous Localization and Mapping) path navigation method for Mecanum-wheeled robots, validated with an emphasis on dynamic adaptability and real-time performance. Based on the Gazebo warehouse simulation environment, the TD3 (Twin Deep Deterministic Policy Gradient) path planning method was established for offline training. Then, the Astar-Time Elastic Band (TEB) hybrid path planning algorithm was used to conduct experimental verification in static and dynamic real-world scenarios. Finally, experiments show that the TD3-based path planning for mobile robots makes effective decisions during offline training in the simulation environment, while Astar-TEB accurately completes path planning and navigates around both static and dynamic obstacles in real-world scenarios. Therefore, this verifies the feasibility and effectiveness of the proposed SLAM path navigation for Mecanum-wheeled mobile robots on a miniature warehouse platform. [ABSTRACT FROM AUTHOR]
ISSN:20326653
DOI:10.3390/wevj16100571