Application of Improved Path Tracking Algorithm in Robot SLAM

Authors

Qian Li, School of Information Science and Technology, Qingdao University of Science and Technology, Qingdao 266061, ChinaFollow
Ye Tao, School of Information Science and Technology, Qingdao University of Science and Technology, Qingdao 266061, ChinaFollow
Hui Li, School of Information Science and Technology, Qingdao University of Science and Technology, Qingdao 266061, China

Abstract

Abstract: Mapping is an important part of automated logistics. At present, SLAM is widely used. However, in large-scale scenes, errors are accumulated because robots often repeatedly measure and scan the region edge, which makes it impossible to quickly build a high-precision and complete map. An autonomous mapping method based on auxiliary path tracking is proposed, in which the given initial sketch is grid denoised and the auxiliary path is fitted and improved by multi segment cubic polynomial. The improved pure pursuit algorithm is used to guide the robot to build the map and improve the total distance and time of slam mapping process. Experiments in simulation and real scenes show that, compared with the existing V-SLAM and QRCode-SLAM methods, the algorithm improves the map integrity, accuracy and efficiency and provides a visual two-way interactive way for fast and efficient map construction.

Recommended Citation

Li, Qian; Tao, Ye; and Li, Hui (2023) "Application of Improved Path Tracking Algorithm in Robot SLAM," Journal of System Simulation: Vol. 35: Iss. 12, Article 10.
DOI: 10.16182/j.issn1004731x.joss.22-0873
Available at: https://dc-china-simulation.researchcommons.org/journal/vol35/iss12/10

First Page

2602

Last Page

2613

CLC

TP242

Recommended Citation

Li Qian, Tao Ye, Li Hui. Application of Improved Path Tracking Algorithm in Robot SLAM[J]. Journal of System Simulation, 2023, 35(12): 2602-2613.

Corresponding Author

Tao Ye

DOI

10.16182/j.issn1004731x.joss.22-0873