Active SLAM in 3D deformable environments

Mengya Xu; Liang Zhao; Shoudong Huang; Qi Hao

IROS 2022poster4 citations

Active SLAM in 3D deformable environments

Mengya Xu, Liang Zhao, Shoudong Huang, Qi Hao

Abstract

This paper considers active SLAM problem for 3D deformable environments where the trajectory of the robot is planned to optimize the SLAM results. A planning strategy combining an efficient global planner with an accurate local planner is proposed to solve the problem. Simulation results under different scenarios have shown that the proposed active SLAM algorithm provides a good balance between accuracy and efficiency as compared to the local planner and the global planner. The MATLAB code of this first active SLAM algorithm for 3D deformable environments is made publicly available4.

BibTeX

@inproceedings{iros2022_activeslamin3dde,
  title = {Active SLAM in 3D deformable environments},
  author = {Mengya Xu and Liang Zhao and Shoudong Huang and Qi Hao},
  booktitle = {IROS 2022},
  year = {2022}
}