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《Computer Knowledge and Technology》 2017-33
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Mobile Robot SLAM and Path Planning System

LAI Qiu-ling;YU Su-ping;DING Shen-yi;College of Information Science and Technology, Donghua University;Engineering Research Center of Digitized Textile&Fashion Technology, Ministry of Education, Donghua University;B&R United Industrial Laboratory, Donghua University;  
Mobile robot simultaneous locating and mapping(SLAM) and path planning are the prerequisites for realizing intelligent robots. In this system, the HCR(Home Care Robot) robot was equipped with Lidar and an RGB-D sensor. In the ROS operating environment, the SLAM Based on the ORB-SLAM2 and RGB-D SLAM algorithms were implemented respectively and three-dimensional point cloud map was generated. Then, the three-dimensional point cloud map was combined with the two-dimensional map generated by the Lidar to get a grid map with the rich environment information. Finally, the A * algorithm path search algorithm was applied to plan the path for the robot. Experiment results show that the grid map which integrates the three-dimensional cloud information is more suitable for path planning.
【CateGory Index】: TP242
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