A collision avoidance algorithm in Simultaneous Localization and Mapping problem for mobile platforms
Tomasz Małecki, Janusz P. Narkiewicz · Journal of Theoretical and Applied Mechanics/Mechanika Teoretyczna i Stosowana · 2022
A collision avoidance algorithm applicable in simultaneous localization and mapping (SLAM) has been developed with a prospect of an on-line application for mobile platforms to search and map the operation area and avoid contact with obstacles.The algorithm, which was implemented in MATLAB R ○ software, is based on a linear discrete-time state transition model for determination of the platform position and orientation, and a 'force' points method for collision avoidance and definition of the next-step of platform motion.The proposed approach may be incorporated into real-time applications with limited on-board computational resources.