LI Yuan,WANG Shirong,YU Ningbo.RGB-D-based SLAM and path planning for mobile robots[J].CAAI Transactions on Intelligent Systems,2018,13(03):445-451.[doi:10.11992/tis.201702005]





RGB-D-based SLAM and path planning for mobile robots
李元12 王石荣12 于宁波12
1. 南开大学 机器人与信息自动化研究所, 天津 300353;
2. 南开大学 天津市智能机器人技术重点实验室, 天津 300353
LI Yuan12 WANG Shirong12 YU Ningbo12
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
mobile robotRGB-DSLAMGMappingpath planningquadratic programmingcurve fittingnonlinear control
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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更新日期/Last Update: 2018-06-25