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A hybrid path planner combining global optimization and quick obstacle avoidance is proposed for nonholonomic mobile robot path planning in partially known environments. This method can not only effectively plan a global optimal path using the prior environment information, but also quickly avoid the unknown obstacles based on the laser scanning. Using grid point sequence to represent the workspace,...
This paper describes an improved particle filters for mobile robot indoor localization based on a large-scale topological environmental model. The model is composed of multiple pivoted nodes and the connecting relations between them. We only choose the crossings as the nodes in the model so that the indoor environment can be presented by simplest structure. For localization, the traditional particle...
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