Autonomous navigation in unknown environmentusing sliding mode SLAM and genetic algorithm

被引：1
作者：
Ortiz, Salvador [1 ]
Yu, Wen [1 ]
机构：
[1] Natl Polytech Inst, Dept Control Automat, Mexico City 07360, Mexico
来源：
INTELLIGENCE & ROBOTICS | 2021年 / 1卷 / 02期
关键词：
Autonomous navigation; sliding mode; SLAM; genetic algorithm; PARTICLE SWARM OPTIMIZATION; MOBILE-ROBOT NAVIGATION; SIMULTANEOUS LOCALIZATION; PATH; COMPUTATION; FILTER; LOOP;
D O I：
10.20517/ir.2021.09
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, sliding mode control is combined with the classical simultaneous localization and mapping (SLAM)method. This combination can overcome the problem of bounded uncertainties in SLAM. With the help of geneticalgorithm, our novel path planning method shows many advantages compared with other popular methods
引用
收藏
页码：131 / 150
页数：92
相关论文
共 52 条
[11]   A solution to the simultaneous localization and map building (SLAM) problem [J].
Dissanayake, MWMG ;
Newman, P ;
Clark, S ;
Durrant-Whyte, HF ;
Csorba, M .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2001, 17 (03) :229-241
[12]  
Erdman ArthurG., 2001, Mechanism Design: Analysis and Synthesis, Vfourth
[13]  
Farzan S, 2019, Arxiv, DOI arXiv:1903.07441
[14]   Closing the loop with graphical SLAM [J].
Folkesson, John ;
Christensen, Henrik I. .
IEEE TRANSACTIONS ON ROBOTICS, 2007, 23 (04) :731-741
[15]   A survey on coverage path planning for robotics [J].
Galceran, Enric ;
Carreras, Marc .
ROBOTICS AND AUTONOMOUS SYSTEMS, 2013, 61 (12) :1258-1276
[16]   Loop closure detection in SLAM by combining visual and spatial appearance [J].
Ho, Kin Leong ;
Newman, Paul .
ROBOTICS AND AUTONOMOUS SYSTEMS, 2006, 54 (09) :740-749
[17]   Finite Markov chain analysis of classical differential evolution algorithm [J].
Hu, ZhongBo ;
Xiong, ShengWu ;
Su, QingHua ;
Fang, ZhiXiang .
JOURNAL OF COMPUTATIONAL AND APPLIED MATHEMATICS, 2014, 268 :121-134
[18]   A generalization of Bellman's equation with application to path planning, obstacle avoidance and invariant set estimation [J].
Jones, Morgan ;
Peet, Matthew M. .
AUTOMATICA, 2021, 127
[19]   Evolutionary-Group-Based Particle-Swarm-Optimized Fuzzy Controller With Application to Mobile-Robot Navigation in Unknown Environments [J].
Juang, Chia-Feng ;
Chang, Yu-Cheng .
IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2011, 19 (02) :379-392
[20]  
K-Team Corporation, About us
123456