کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
710073 | 892102 | 2016 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A loop closure improvement method of Gmapping for low cost and resolution laser scanner
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: A loop closure improvement method of Gmapping for low cost and resolution laser scanner A loop closure improvement method of Gmapping for low cost and resolution laser scanner](/preview/png/710073.png)
چکیده انگلیسی
A Kalman filter based algorithm is proposed to improve the loop closure correction performance of Gmapping using low cost and resolution laser scanners (e.g. RPLidar laser scanner), which can positively promote the application of laser scanner in normal life. Maps built up by using different cost and resolution laser scanners are compared with the conclusion that the loop closure performance of Gmapping using RPLidar is relatively bad. To solve the problem, a Kalman filter based correction algorithm is proposed to correct state estimations of Gmapping. Experiments on a TurtleBot using both RPLidar and SICK LMS laser scanners demonstrate the effectiveness of the proposed algorithm.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC-PapersOnLine - Volume 49, Issue 12, 2016, Pages 168–173
Journal: IFAC-PapersOnLine - Volume 49, Issue 12, 2016, Pages 168–173
نویسندگان
Peng Wang, Zonghai Chen, Qibin Zhang, Jian Sun,