Design and implementation of origami robot ROS-based SLAM and autonomous navigation.
In this study an innovative parameterized water-bomb wheel modeling method based on recursive solving are introduced, significantly reducing the modeling workload compared to traditional methods. A multi-link supporting structure is designed upon the foundation of the water-bomb wheel model. The eff...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Public Library of Science (PLoS)
2024-01-01
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| Series: | PLoS ONE |
| Online Access: | https://journals.plos.org/plosone/article/file?id=10.1371/journal.pone.0298951&type=printable |
| _version_ | 1797224059491057664 |
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| author | Lijuan Zhao Tianyi Zhang Zuen Shang |
| author_facet | Lijuan Zhao Tianyi Zhang Zuen Shang |
| author_sort | Lijuan Zhao |
| collection | DOAJ |
| description | In this study an innovative parameterized water-bomb wheel modeling method based on recursive solving are introduced, significantly reducing the modeling workload compared to traditional methods. A multi-link supporting structure is designed upon the foundation of the water-bomb wheel model. The effectiveness of the supporting structure is verified through simulations and experiments. For robots equipped with this water-bomb wheel featuring the multi-link support, base on the kinematic model of multi-link structure, a mapping algorithm that incorporates parameterized kinematic solutions and IMU-fused parameterized odometry is proposed. Based on this algorithm, SLAM and autonomous navigation experiments are carried out in simulation environment and real environment respectively. Compared with the traditional algorithm, this algorithm the precision of SLAM is enhanced, achieving high-precision SLAM and autonomous navigation with a robot error rate below 5%. |
| first_indexed | 2024-04-24T13:47:06Z |
| format | Article |
| id | doaj.art-65a03a957a754d4f8ccad794d8436d9c |
| institution | Directory Open Access Journal |
| issn | 1932-6203 |
| language | English |
| last_indexed | 2024-04-24T13:47:06Z |
| publishDate | 2024-01-01 |
| publisher | Public Library of Science (PLoS) |
| record_format | Article |
| series | PLoS ONE |
| spelling | doaj.art-65a03a957a754d4f8ccad794d8436d9c2024-04-04T05:34:37ZengPublic Library of Science (PLoS)PLoS ONE1932-62032024-01-01193e029895110.1371/journal.pone.0298951Design and implementation of origami robot ROS-based SLAM and autonomous navigation.Lijuan ZhaoTianyi ZhangZuen ShangIn this study an innovative parameterized water-bomb wheel modeling method based on recursive solving are introduced, significantly reducing the modeling workload compared to traditional methods. A multi-link supporting structure is designed upon the foundation of the water-bomb wheel model. The effectiveness of the supporting structure is verified through simulations and experiments. For robots equipped with this water-bomb wheel featuring the multi-link support, base on the kinematic model of multi-link structure, a mapping algorithm that incorporates parameterized kinematic solutions and IMU-fused parameterized odometry is proposed. Based on this algorithm, SLAM and autonomous navigation experiments are carried out in simulation environment and real environment respectively. Compared with the traditional algorithm, this algorithm the precision of SLAM is enhanced, achieving high-precision SLAM and autonomous navigation with a robot error rate below 5%.https://journals.plos.org/plosone/article/file?id=10.1371/journal.pone.0298951&type=printable |
| spellingShingle | Lijuan Zhao Tianyi Zhang Zuen Shang Design and implementation of origami robot ROS-based SLAM and autonomous navigation. PLoS ONE |
| title | Design and implementation of origami robot ROS-based SLAM and autonomous navigation. |
| title_full | Design and implementation of origami robot ROS-based SLAM and autonomous navigation. |
| title_fullStr | Design and implementation of origami robot ROS-based SLAM and autonomous navigation. |
| title_full_unstemmed | Design and implementation of origami robot ROS-based SLAM and autonomous navigation. |
| title_short | Design and implementation of origami robot ROS-based SLAM and autonomous navigation. |
| title_sort | design and implementation of origami robot ros based slam and autonomous navigation |
| url | https://journals.plos.org/plosone/article/file?id=10.1371/journal.pone.0298951&type=printable |
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