An Autonomous Navigation Strategy Based on Improved Hector SLAM With Dynamic Weighted A* Algorithm
Aiming at improving the mapping accuracy and autonomous navigation efficiency of rescue robot in unknown environment, an improved Hector SLAM based autonomous navigation strategy is proposed, which is implemented on the Levenberg-Marquardt optimization and Bezier smooth dynamic weighted <inline-f...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10195970/ |
| _version_ | 1827868531557924864 |
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| author | Zhang Yong Li Renjie Wang Fenghong Zhao Weiting Chen Qi Zhi Derui Chen Xinxin Jiang Shuhao |
| author_facet | Zhang Yong Li Renjie Wang Fenghong Zhao Weiting Chen Qi Zhi Derui Chen Xinxin Jiang Shuhao |
| author_sort | Zhang Yong |
| collection | DOAJ |
| description | Aiming at improving the mapping accuracy and autonomous navigation efficiency of rescue robot in unknown environment, an improved Hector SLAM based autonomous navigation strategy is proposed, which is implemented on the Levenberg-Marquardt optimization and Bezier smooth dynamic weighted <inline-formula> <tex-math notation="LaTeX">$\text{A}^{\ast} $ </tex-math></inline-formula> algorithm. Firstly, the scan match process of Hector SLAM is performed by an improved Levenberg-Marquart (LM) method to solve the problems of non-convergence of functions and inaccurate local approximation caused by the non-singularity for solving the Hessian matrix. Secondly, the Bezier smooth dynamic weighted <inline-formula> <tex-math notation="LaTeX">$\text{A}^{\ast} $ </tex-math></inline-formula> algorithm is utilized to perform autonomous navigation based on the SLAM map. In which, the navigation target points selection is employed by the frontier exploration strategy in order to solve the search efficiency as for the increasing number of nodes in the <inline-formula> <tex-math notation="LaTeX">$\text{A}^{\ast} $ </tex-math></inline-formula> algorithm, and the accuracy of SLAM mapping declines owing to the large angle amplitude. Finally, the experiments are carried out in ROS, the results show that there is a better performance for proposed method to implement the high mapping accuracy and efficient autonomous navigation. |
| first_indexed | 2024-03-12T15:32:47Z |
| format | Article |
| id | doaj.art-c243e574115e40f8b9f1a66c2f423712 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-12T15:32:47Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-c243e574115e40f8b9f1a66c2f4237122023-08-09T23:02:01ZengIEEEIEEE Access2169-35362023-01-0111795537957110.1109/ACCESS.2023.329929310195970An Autonomous Navigation Strategy Based on Improved Hector SLAM With Dynamic Weighted A* AlgorithmZhang Yong0Li Renjie1https://orcid.org/0009-0005-3488-1146Wang Fenghong2Zhao Weiting3Chen Qi4Zhi Derui5Chen Xinxin6Jiang Shuhao7https://orcid.org/0000-0002-7706-063XInformation Engineering Department, Tianjin University of Commerce, Tianjin, ChinaInformation Engineering Department, Tianjin University of Commerce, Tianjin, ChinaInformation Engineering Department, Tianjin University of Commerce, Tianjin, ChinaInformation Engineering Department, Tianjin University of Commerce, Tianjin, ChinaInformation Engineering Department, Tianjin University of Commerce, Tianjin, ChinaInformation Engineering Department, Tianjin University of Commerce, Tianjin, ChinaSchool of Science, Tianjin University of Commerce, Tianjin, ChinaInformation Engineering Department, Tianjin University of Commerce, Tianjin, ChinaAiming at improving the mapping accuracy and autonomous navigation efficiency of rescue robot in unknown environment, an improved Hector SLAM based autonomous navigation strategy is proposed, which is implemented on the Levenberg-Marquardt optimization and Bezier smooth dynamic weighted <inline-formula> <tex-math notation="LaTeX">$\text{A}^{\ast} $ </tex-math></inline-formula> algorithm. Firstly, the scan match process of Hector SLAM is performed by an improved Levenberg-Marquart (LM) method to solve the problems of non-convergence of functions and inaccurate local approximation caused by the non-singularity for solving the Hessian matrix. Secondly, the Bezier smooth dynamic weighted <inline-formula> <tex-math notation="LaTeX">$\text{A}^{\ast} $ </tex-math></inline-formula> algorithm is utilized to perform autonomous navigation based on the SLAM map. In which, the navigation target points selection is employed by the frontier exploration strategy in order to solve the search efficiency as for the increasing number of nodes in the <inline-formula> <tex-math notation="LaTeX">$\text{A}^{\ast} $ </tex-math></inline-formula> algorithm, and the accuracy of SLAM mapping declines owing to the large angle amplitude. Finally, the experiments are carried out in ROS, the results show that there is a better performance for proposed method to implement the high mapping accuracy and efficient autonomous navigation.https://ieeexplore.ieee.org/document/10195970/SLAMLevenberg-Marquart methodautonomous navigationdynamic weighted A* algorithm |
| spellingShingle | Zhang Yong Li Renjie Wang Fenghong Zhao Weiting Chen Qi Zhi Derui Chen Xinxin Jiang Shuhao An Autonomous Navigation Strategy Based on Improved Hector SLAM With Dynamic Weighted A* Algorithm IEEE Access SLAM Levenberg-Marquart method autonomous navigation dynamic weighted A* algorithm |
| title | An Autonomous Navigation Strategy Based on Improved Hector SLAM With Dynamic Weighted A* Algorithm |
| title_full | An Autonomous Navigation Strategy Based on Improved Hector SLAM With Dynamic Weighted A* Algorithm |
| title_fullStr | An Autonomous Navigation Strategy Based on Improved Hector SLAM With Dynamic Weighted A* Algorithm |
| title_full_unstemmed | An Autonomous Navigation Strategy Based on Improved Hector SLAM With Dynamic Weighted A* Algorithm |
| title_short | An Autonomous Navigation Strategy Based on Improved Hector SLAM With Dynamic Weighted A* Algorithm |
| title_sort | autonomous navigation strategy based on improved hector slam with dynamic weighted a x002a algorithm |
| topic | SLAM Levenberg-Marquart method autonomous navigation dynamic weighted A* algorithm |
| url | https://ieeexplore.ieee.org/document/10195970/ |
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