- Tytuł:
- A collision avoidance algorithm in Simultaneous Localization and Mapping problem for mobile platforms
- Autorzy:
-
Małecki, Tomasz
Narkiewicz, Janusz - Powiązania:
- https://bibliotekanauki.pl/articles/2086976.pdf
- Data publikacji:
- 2022
- Wydawca:
- Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
- Tematy:
-
algorithm
modeling
path planning
SLAM - Opis:
- A collision avoidance algorithm applicable in simultaneous localization and mapping (SLAM) has been developed with a prospect of an on-line application for mobile platforms to search and map the operation area and avoid contact with obstacles. The algorithm, which was implemented in MATLAB software, is based on a linear discrete-time state transition model for determination of the platform position and orientation, and a ‘force’ points method for collision avoidance and definition of the next-step of platform motion. The proposed approach may be incorporated into real-time applications with limited on-board computational resources.
- Źródło:
-
Journal of Theoretical and Applied Mechanics; 2022, 60, 2; 317--328
1429-2955 - Pojawia się w:
- Journal of Theoretical and Applied Mechanics
- Dostawca treści:
- Biblioteka Nauki
Artykuł