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Slam and Path Planning of Mobile Robot Using DSmT

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Slam and Path Planning are two important research directions in the field of robotics.

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Page 1: Slam and Path Planning of Mobile Robot Using DSmT
Page 2: Slam and Path Planning of Mobile Robot Using DSmT
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Page 11: Slam and Path Planning of Mobile Robot Using DSmT

1.0

0.8

0.6

0.4

0.2

0.0

m(.)

0

21

d/m3 -0.4

-0.20.0

0.2

1

y-axis/m

(a) 1.0

0.8

0.6

0.4

0.2

0.0

m(.)

0

21

d/m3 -0.4

-0.2

0.00.2

1

y-axis/m

(b)

1.0

0.8

0.6

0.4

0.2

0.0

m(.)

0

21d/m

3 -0.4-0.2

0.00.2

1

y-axis/m

(c)

1.0

0.8

0.6

0.4

0.2

0.0

m(.)

0

(d)

21

3

-0.4-0.2

0.0

0.21

y-axis/md/m

Page 12: Slam and Path Planning of Mobile Robot Using DSmT
Page 13: Slam and Path Planning of Mobile Robot Using DSmT
Page 14: Slam and Path Planning of Mobile Robot Using DSmT
Page 15: Slam and Path Planning of Mobile Robot Using DSmT

1

1

(a)

(b)

Page 16: Slam and Path Planning of Mobile Robot Using DSmT

1

A

B

C

Page 17: Slam and Path Planning of Mobile Robot Using DSmT

m(θ2)≥0.9

0.51≤m(θ2)≥0.89

m(θ2)≥0.5

(a)

(b)

(c)

Page 18: Slam and Path Planning of Mobile Robot Using DSmT

Target goal

Robot

Moving object

Real path

Robot

Planned path

(a) (b)

(c) (d)

(e) (f)

Page 19: Slam and Path Planning of Mobile Robot Using DSmT

Real path

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