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A Low-Cost 3D SLAM System Integration of Autonomous Exploration Based on Fast-ICP Enhanced LiDAR-Inertial Odometry.
- Source :
-
Remote Sensing . Jun2024, Vol. 16 Issue 11, p1979. 28p. - Publication Year :
- 2024
-
Abstract
- Advancements in robotics and mapping technology have spotlighted the development of Simultaneous Localization and Mapping (SLAM) systems as a key research area. However, the high cost of advanced SLAM systems poses a significant barrier to research and development in the field, while many low-cost SLAM systems, operating under resource constraints, fail to achieve high-precision real-time mapping and localization, rendering them unsuitable for practical applications. This paper introduces a cost-effective SLAM system design that maintains high performance while significantly reducing costs. Our approach utilizes economical components and efficient algorithms, addressing the high-cost barrier in the field. First, we developed a robust robotic platform based on a traditional four-wheeled vehicle structure, enhancing flexibility and load capacity. Then, we adapted the SLAM algorithm using the LiDAR-inertial Odometry framework coupled with the Fast Iterative Closest Point (ICP) algorithm to balance accuracy and real-time performance. Finally, we integrated the 3D multi-goal Rapidly exploring Random Tree (RRT) algorithm with Nonlinear Model Predictive Control (NMPC) for autonomous exploration in complex environments. Comprehensive experimental results confirm the system's capability for real-time, autonomous navigation and mapping in intricate indoor settings, rivaling more expensive SLAM systems in accuracy and efficiency at a lower cost. Our research results are published as open access, facilitating greater accessibility and collaboration. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 20724292
- Volume :
- 16
- Issue :
- 11
- Database :
- Academic Search Index
- Journal :
- Remote Sensing
- Publication Type :
- Academic Journal
- Accession number :
- 177851545
- Full Text :
- https://doi.org/10.3390/rs16111979