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Research and Implementation of Robot Path Planning Based onVSLAM

MATEC Web of Conferences. 2018;160:06004 DOI 10.1051/matecconf/201816006004

 

Journal Homepage

Journal Title: MATEC Web of Conferences

ISSN: 2261-236X (Online)

Publisher: EDP Sciences

LCC Subject Category: Technology: Engineering (General). Civil engineering (General)

Country of publisher: France

Language of fulltext: French, English

Full-text formats available: PDF

 

AUTHORS


Wang Zi-Qiang

Xu He-Gen

Wan You-Wen

EDITORIAL INFORMATION

Editorial review

Editorial Board

Instructions for authors

Time From Submission to Publication: 6 weeks

 

Abstract | Full Text

In order to solve the problem of warehouse logistics robots planpath in different scenes, this paper proposes a method based on visual simultaneous localization and mapping (VSLAM) to build grid map of different scenes and use A* algorithm to plan path on the grid map. Firstly, we use VSLAMto reconstruct the environment in three-dimensionally. Secondly, based on the three-dimensional environment data, we calculate the accessibility of each grid to prepare occupied grid map (OGM) for terrain description. Rely on the terrain information, we use the A* algorithm to solve path planning problem. We also optimize the A* algorithm and improve algorithm efficiency. Lastly, we verify the effectiveness and reliability of the proposed method by simulation and experimental results.