Design and implementation of origami robot ROS-based SLAM and autonomous navigation.

ABSTRACT: In this study an innovative parameterized water-bomb wheel modeling method based on recursive solving are introduced, significantly reducing the modeling workload compared to traditional methods. A multi-link supporting structure is designed upon the foundation of the water-bomb wheel model. The effectiveness of the supporting structure is verified through simulations and experiments. For robots equipped with this water-bomb wheel featuring the multi-link support, base on the kinematic model of multi-link structure, a mapping algorithm that incorporates parameterized kinematic solutions and IMU-fused parameterized odometry is proposed. Based on this algorithm, SLAM and autonomous navigation experiments are carried out in simulation environment and real environment respectively. Compared wi

SUBMITTER: Zhao L 

PROVIDER: S-EPMC10977891 | biostudies-literature | 2024

REPOSITORIES: biostudies-literature