Application of Improved Path Tracking Algorithm in Robot SLAM

doi:10.16182/j.issn1004731x.joss.22-0873

Abstract

Abstract:

Mapping is an important part of automated logistics. At present, SLAM is widely used. However, in large-scale scenes, errors are accumulated because robots often repeatedly measure and scan the region edge, which makes it impossible to quickly build a high-precision and complete map. An autonomous mapping method based on auxiliary path tracking is proposed, in which the given initial sketch is grid denoised and the auxiliary path is fitted and improved by multi segment cubic polynomial. The improved pure pursuit algorithm is used to guide the robot to build the map and improve the total distance and time of slam mapping process. Experiments in simulation and real scenes show that, compared with the existing V-SLAM and QRCode-SLAM methods, the algorithm improves the map integrity, accuracy and efficiency and provides a visual two-way interactive way for fast and efficient map construction.

Key words: SLAM, high precision complete map, denoising, auxiliary path, map construction, interaction

CLC Number:

TP242

Li Qian, Tao Ye, Li Hui. Application of Improved Path Tracking Algorithm in Robot SLAM[J]. Journal of System Simulation, 2023, 35(12): 2602-2613.

Figures/Tables 26

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前瞻距离系数	最大横向误差/m	最大航向误差/rad
0.5	0.71	0.610
1.0	0.11	0.070
1.5	0.16	0.087
2.0	0.21	0.085

场景规模/m²	建图方法	用时	I/%	λ/%
10×6 (图15(a))	本文方法	37 min 25 s	100	99.82
10×6 (图15(a))	SLAM	50 min 5 s	93.65	93.21
45×22 (图16(a))	本文方法	3 h 17 min 3 s	99.82	99.05
45×22 (图16(a))	SLAM	3 h 55 min 11 s	94.09	75.45
21×22 (图17(a))	本文方法	4 h 19 min 37 s	99.33	97.70
21×22 (图17(a))	SLAM	5 h 11 min 32 s	93.70	72.41

使用方法	辅助程度	平均时间	I/%	λ/%
RRT	四边形边界	15 min 37 s	74.70	77.39
QRCode-SLAM	QRCode	11 min 49 s	83.43	79.27
V-SLAM	深度相机	9 min 32 s	70.16	63.20
V+Laser-SLAM	Laser+相机	10 min 25 s	86.96	89.32
本文方法	辅助路径	7 min 4 s	99.09	99.52

使用方法	辅助程度	平均时间	I/%	λ/%
RRT	四边形边界	11 min 32 s	67.03	59.13
QRCode-SLAM	QRCode	10 min 8 s	80.26	68.00
V-SLAM	深度相机	5 min 48 s	64.31	53.57
V+Laser-SLAM	Laser+相机	6 min 12 s	85.25	90.19
本文方法	辅助路径	4 min 15 s	98.89	97.78

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