Details

Autor(en) / Beteiligte

• Xu, Mengya
• Zhao, Liang
• Huang, Shoudong
• Hao, Qi

Titel

Active SLAM in 3D deformable environments

Ist Teil von

• 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, p.7952-7958

Ort / Verlag

IEEE

Erscheinungsjahr

2022

Link zum Volltext

• IEEE_Xplore

Quelle

IEEE Electronic Library (IEL)

Beschreibungen/Notizen

• This paper considers active SLAM problem for 3D deformable environments where the trajectory of the robot is planned to optimize the SLAM results. A planning strategy combining an efficient global planner with an accurate local planner is proposed to solve the problem. Simulation results under different scenarios have shown that the proposed active SLAM algorithm provides a good balance between accuracy and efficiency as compared to the local planner and the global planner. The MATLAB code of this first active SLAM algorithm for 3D deformable environments is made publicly available 4 .