Hybrid SLAM-based Exploration of a Mobile Robot for 3D Scenario Reconstruction and Autonomous Navigation
Thi Thoa Mac, Chyi‐Yeu Lin, Nguyen Gia Huan, Duc-Nhat Luong, Pham Cong Hoang, Hoang Hong Hai · Acta Polytechnica Hungarica · 2021
SLAM can be categorized into two groups: laser-based SLAM and visual-based SLAM.They are used to identify surrounded objects of a robot.This paper proposes a combination of visual-based SLAM algorithm and laser-based SLAM.The purpose is to reduce effort but still provides the high quality 3D-reconstructed map.First, this paper presents visual-based SLAM and laser-based SLAM separately.Then, two techniques are integrated into one system.In addition, bi-direction RRT* path planning algorithm is developed to create a feasible and optimal trajectory.A self-tuning Fuzzy-PID controller also is introduced for driving the robot to follow the trajectory precisely.The simulations and real experiments are conducted in order to illustrate the superiority of the proposed approach.