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Author He-Gen, Xu ♦ Zi-Qiang, Wang ♦ You-Wen, Wan
Source Directory of Open Access Journals (DOAJ)
Content type Text
Publisher EDP Sciences
File Format PDF
Date Created 2018-04-23
Copyright Year ©2018
Language English ♦ French
Subject Domain (in LCC) TA1-2040
Subject Keyword Engineering (General) ♦ Technology ♦ Civil engineering (General)
Abstract 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.
ISSN 2261236X
Age Range 18 to 22 years ♦ above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 2018-01-01
e-ISSN 2261236X
Journal MATEC Web of Conferences
Volume Number 160
Starting Page 06004


Source: Directory of Open Access Journals (DOAJ)