[1]LI Yuan,WANG Shirong,YU Ningbo.RGB-D-based SLAM and path planning for mobile robots[J].CAAI Transactions on Intelligent Systems,2018,13(3):445-451.[doi:10.11992/tis.201702005]
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RGB-D-based SLAM and path planning for mobile robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 13 Number of periods: 2018 3 Page number: 445-451 Column: 学术论文—智能系统 Public date: 2018-05-05
Title:
RGB-D-based SLAM and path planning for mobile robots
Author(s):
LI Yuan1; 2;  WANG Shirong1; 2;  YU Ningbo1; 2
1. Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin 300353, China;
2. Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300353, China
Keywords:
mobile robot; RGB-D; SLAM; GMapping; path planning; quadratic programming; curve fitting; nonlinear control
CLC:
TP242.6
DOI:
10.11992/tis.201702005
Abstract:
To accomplish various tasks, mobile robots need the capabilities of autonomous localization, mapping, path planning, and motion control. In this paper, an autonomous robot system was realized using a mobile platform, an RGB-D sensor, and a computing unit. Localization was achieved using the ORB-SLAM algorithm based on RGB-D information, and the 2D grid map was built-up using the GMapping algorithm with localization and point cloud data. A smooth path was produced by point generation and curve fitting with quadratic programming. The robot motion was regulated by a nonlinear controller. The proposed system and methods were validated by experiments and the results show that the system can realize real-time localization and mapping, autonomous movement, and obstacle avoidance in a complex indoor environment. Therefore, the research provides a solution with the following merits for promotion and application of mobile robots:simple hardware structure, excellent performance, easy extension, as well as economical and convenient development and maintenance.
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