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TVSLAM: An Efficient Topological-Vector Based SLAM Algorithm for Home Cleaning Robots

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10464))

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Abstract

The Simultaneous Localization and Mapping problem limits the promotion of home cleaning robots in practical domestic environments. In this paper, a novel topological-vector based simultaneous localization and mapping (TVSLAM) algorithm is proposed to solve the problem. The algorithm involves four aspects. First, the ultra-wideband localization and dead reckoning localization are selected to develop a new combined localization algorithm which can improve the localization accuracy. In addition, a data acquisition algorithm which simplifies the process of data collection and demands much smaller memory size is proposed. Furthermore, a partitioning algorithm is developed to adapt to the various change rates of different rooms. Finally, an autonomous learning algorithm based on the regular and repetitive cleaning task is put forward. It makes the constructed map approach to the real environment with the increase of cleaning times. Overall, a novel topological-vector map is generated according to the above process of the algorithm. Simulation results show that the TVSLAM is an efficient and robust localization and mapping algorithm.

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Authors and Affiliations

  1. Huazhong University of Science and Technology, Wuhan, 430074, China

    Yongfu Chen, Chunlei Qu, Qifu Wang, Zhiyong Jin, Mengzhu Shen & Jiaqi Shen

Authors
  1. Yongfu Chen
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  2. Chunlei Qu
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  3. Qifu Wang
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  4. Zhiyong Jin
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  5. Mengzhu Shen
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  6. Jiaqi Shen
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Corresponding author

Correspondence to Yongfu Chen .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Chen, Y., Qu, C., Wang, Q., Jin, Z., Shen, M., Shen, J. (2017). TVSLAM: An Efficient Topological-Vector Based SLAM Algorithm for Home Cleaning Robots. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_16

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  • DOI: https://doi.org/10.1007/978-3-319-65298-6_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65297-9

  • Online ISBN: 978-3-319-65298-6

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