Research and Implementation of Robot Path Planning Based onVSLAM
In order to solve the problem of warehouse logistics robots planpath in different scenes, this paper proposes a method based on visual simultaneous localization and mapping (VSLAM) to build grid map of different scenes and use A* algorithm to plan path on the grid map. Firstly, we use VSLAMto recons...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2018-01-01
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| Series: | MATEC Web of Conferences |
| Online Access: | https://doi.org/10.1051/matecconf/201816006004 |
| _version_ | 1818955319919771648 |
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| author | Wang Zi-Qiang Xu He-Gen Wan You-Wen |
| author_facet | Wang Zi-Qiang Xu He-Gen Wan You-Wen |
| author_sort | Wang Zi-Qiang |
| collection | DOAJ |
| description | In order to solve the problem of warehouse logistics robots planpath in different scenes, this paper proposes a method based on visual simultaneous localization and mapping (VSLAM) to build grid map of different scenes and use A* algorithm to plan path on the grid map. Firstly, we use VSLAMto reconstruct the environment in three-dimensionally. Secondly, based on the three-dimensional environment data, we calculate the accessibility of each grid to prepare occupied grid map (OGM) for terrain description. Rely on the terrain information, we use the A* algorithm to solve path planning problem. We also optimize the A* algorithm and improve algorithm efficiency. Lastly, we verify the effectiveness and reliability of the proposed method by simulation and experimental results. |
| first_indexed | 2024-12-20T10:36:11Z |
| format | Article |
| id | doaj.art-edf4407170f1402888ec2ebfa5c23f60 |
| institution | Directory Open Access Journal |
| issn | 2261-236X |
| language | English |
| last_indexed | 2024-12-20T10:36:11Z |
| publishDate | 2018-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | MATEC Web of Conferences |
| spelling | doaj.art-edf4407170f1402888ec2ebfa5c23f602022-12-21T19:43:37ZengEDP SciencesMATEC Web of Conferences2261-236X2018-01-011600600410.1051/matecconf/201816006004matecconf_eecr2018_06004Research and Implementation of Robot Path Planning Based onVSLAMWang Zi-QiangXu He-GenWan You-WenIn order to solve the problem of warehouse logistics robots planpath in different scenes, this paper proposes a method based on visual simultaneous localization and mapping (VSLAM) to build grid map of different scenes and use A* algorithm to plan path on the grid map. Firstly, we use VSLAMto reconstruct the environment in three-dimensionally. Secondly, based on the three-dimensional environment data, we calculate the accessibility of each grid to prepare occupied grid map (OGM) for terrain description. Rely on the terrain information, we use the A* algorithm to solve path planning problem. We also optimize the A* algorithm and improve algorithm efficiency. Lastly, we verify the effectiveness and reliability of the proposed method by simulation and experimental results.https://doi.org/10.1051/matecconf/201816006004 |
| spellingShingle | Wang Zi-Qiang Xu He-Gen Wan You-Wen Research and Implementation of Robot Path Planning Based onVSLAM MATEC Web of Conferences |
| title | Research and Implementation of Robot Path Planning Based onVSLAM |
| title_full | Research and Implementation of Robot Path Planning Based onVSLAM |
| title_fullStr | Research and Implementation of Robot Path Planning Based onVSLAM |
| title_full_unstemmed | Research and Implementation of Robot Path Planning Based onVSLAM |
| title_short | Research and Implementation of Robot Path Planning Based onVSLAM |
| title_sort | research and implementation of robot path planning based onvslam |
| url | https://doi.org/10.1051/matecconf/201816006004 |
| work_keys_str_mv | AT wangziqiang researchandimplementationofrobotpathplanningbasedonvslam AT xuhegen researchandimplementationofrobotpathplanningbasedonvslam AT wanyouwen researchandimplementationofrobotpathplanningbasedonvslam |