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In visual SLAM features are extracted from images as landmarks. Features should be easily and fast extracted and should be reliably matched in different situations. However, most point features extraction methods used in visual SLAM cannot trade off the reliability of matching and the speed of extraction. In our monocular vision SLAM research, a new feature extractor SURF, which provides both robust...
For vision SLAM, most of the current work focuses on employing point features as landmarks, few take advantage of lines. In this paper, an effective EKF-based monocular SLAM approach using vertical straight lines is proposed. The vertical straight line is represented with the inverse-depth form which allows an efficient and accurate representation of its depth uncertainty and can also increase the...
This paper researches the path planning problem for the tractor-trailer mobile robot and presents a novel environment modelling method called Compound PRM which builds the global compound roadmap by combining the local regular roadmap with the universal probabilistic roadmap. Path planning based on the Compound PRM roadmap can improve the quality of the local routes near obstacles and lower the complexity...
Path planned for tractor-trailer mobile robot (TTMR) does not seem to be easily adapted to the case when the number of the trailers increases, thus the repetitive path planning has to be introduced. For this problem, this paper investigates the connection relation of TTMR with variable structure, i.e. the number of the trailers is variable, and deals with the optimization design for it to avoid the...
This paper addresses the problem of path following control for tractor-trailer mobile robot (TTMR). Firstly, for several kinds of normal real desired paths (RDP), we design a scheme to construct virtual desired paths (VDP) such that all the bodies of TTMR will array on both sides of the RDP symmetrically and closely when the tractor follows the VDP instead of the RDP. In such a way, the width of the...
Tractor-trailer mobile robot (TTMR) is a typical nonholonomic and nonlinear system. In this paper, circle path following control for multi-steering TTMR considering the motion characteristics of single-steering TTMR is investigated. Based on the recursive kinematic equations, a control strategy which uses nonlinear states feedback as control inputs and stabilizes the system exponentially is proposed...
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