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In this paper, we present a Robot Technology component implementation of the simultaneous path planning and topological mapping algorithm. Firstly, Simultaneous Path Planning and Topological Mapping (SP2ATM) algorithm is applied for robot path planning and environment exploration with map construction incrementally. And at the same time, Rao-Blackwellized Particle Filter (RBPF) is utilized for robot's...
Under the structure of robot technology middleware(RTM), this paper presents a distributed method for mobile robot simultaneous localization and mapping(SLAM) to address the problem of 3D modeling in complex indoor environment.We integrate the image feature and depth information to establish the correspondence-based iterative closest point (ICP) algorithm for localizing the robot precisely. With the...
This paper presents a mobile robot guidance approach based on tracking of straight line marked on the ground. To accurately and robustly extract the ground line, a senior line detector, with sub-pixel centre localization of capability for a stripe like narrow region, is successfully presented. PD and PID are designed for mobile robot tracking control and their performances are compared in experiment...
The method based on the normalized moment of inertia was used to reconstruct the tactile sense data, meanwhile established the cognitive map model for the data processing of robot tactile sensor, and the relatively inferential operational steps of model was also expressed . These inputs of the cognitive map concept nodes involved tactile sense data, such as press location, press values and the reconstructed...
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