Research on mapping technology of laser navigation robot without reflector

In view of the problems existing in the construction of large sparse environment map for laser navigation robot without reflector, an incremental SLAM algorithm based on multistage ICP matching is proposed. This method constructs a new image according to the pose of the robot, and develops a regiona...

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Veröffentlicht in:Journal of physics. Conference series Jg. 1684; H. 1; S. 12096 - 12102
Hauptverfasser: Haiying, Zhang, Shengming, Liu, Zhiying, Jiang
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Bristol IOP Publishing 01.11.2020
Schlagworte:
Algorithms
Error reduction
Laser guidance
Mapping
Optimization
Physics
Regional development
Robots
ISSN:1742-6588, 1742-6596
Online-Zugang:Volltext
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Zusammenfassung:In view of the problems existing in the construction of large sparse environment map for laser navigation robot without reflector, an incremental SLAM algorithm based on multistage ICP matching is proposed. This method constructs a new image according to the pose of the robot, and develops a regional closed-loop algorithm combined with incremental optimization method based on the graph optimization algorithm. Experimental results show that due to the low amount of environmental information, the algorithm can effectively avoid falling into local minima, eliminate the cumulative error of mapping, reduce the computational complexity, and realize accurate mapping and real-time application.
Bibliographie:ObjectType-Article-1
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ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1684/1/012096