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3D environment modeling and motion planning are two essential tasks for an autonomous mobile robot's outdoor navigation. In order to implement mobile robot large-scale motion planning, an edge-feature-based ICP algorithm is presented to complete 3D scene registration and reconstruction. According to the respective advantages of geometric features and terrain features, a novel motion planning approach...
Localization is a foundational task for mobile robot navigation in an indoor environment. In order to accommodate more ordinary indoor environment, improved adaptive particle filters is proposed in this paper, which can adjust the number of samples adaptively according to the status of sample convergence. We distribute random samples based on the analysis result of the sensor reading in the initial...
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