Mobile Robot Navigation Based on EWA with Adaption of Particle Filter and Map Merging Algorithms for Localization and Mapping

摘要

This paper mainly focuses on the improvement of the navigation in mobile robot systems. There are three key components of a mobile robot system such as the ability to localize itself accurately and, simultaneously, to build a map of the surroundings, and finally to navigate effectively in an unknown environment. This paper mainly focused on the establishment of a methodology to model the control system that optimizes the behavior rules using EWA (Extended Wave Algorithm). Heuristic method of the EWA lies in finding the most prospective destination point, while navigation based on WA (Wave Algorithm) always uses the closest frontier cell as the next destination point. Also, this paper takes into account map merging and particle filter as map building and localization techniques, respectively. The overall algorithm has been tested extensively in simulation runs. The results given in this paper demonstrate that our algorithm significantly reduces the exploration time compared to previous approaches.