Page 55 - Read Online
P. 55

Page 148                        Ortiz et al. Intell Robot 2021;1(2):131-50  I http://dx.doi.org/10.20517/ir.2021.09





                                                           E  EKF  E  EKF-DI
                                       0.06                 a       a

                                      E a 0.04


                                       0.02


                                         0
                                          0   50   100  150  200  250  300  350  400
                                                           Time [s]
               Figure 15. Direction estimation errors of sliding mode simultaneous localization and mapping (SLAM) and EKF-SLAM. EKF: Extended
               Kalman filter.


               6.   CONCLUSION
               Navigation in unknown environments is a big challenge. In this paper, we propose sliding mode SLAM with
               genetic algorithm for path planning. Both sliding mode andGA can work in unknownenvironments. Conver-
               gence analysis is given. Two examples were applied to compare our model with other models, and the results
               show that our algorithm is much better in unknown environments.



               DECLARATIONS

               Authors’ contributions
               Revised the text and agreed to the published version of the manuscript: Ortiz S, Yu W

               Availability of data and materials
               Not applicable.


               Financial support and sponsorship
               None.

               Conflicts of interest
               Both authors declared that there are no conflicts of interest.

               Ethical approval and consent to participate
               Not applicable.

               Consent for publication
               Not applicable.

               Copyright
               © The Author(s) 2021.



               REFERENCES

               1.  Luettel T, Himmelsbach M, Wuensche HJ. Autonomous ground vehicles—concepts and a path to the future. Proceedings of the
                  IEEE 2012;100:1831­39.
               2.  Galceran E, Carreras M. A survey on coverage path planning for robotics. Rob Auton Syst 2013;61:1258­76.
               3.  Lowe DG. Distinctive image features from scale­invariant keypoints. Int J Comput Vis 2004;60:91­110.
   50   51   52   53   54   55   56   57   58   59   60