Dynamic Mapping and 3D Perception Using Voxel Grid and Modified Artificial Potential Fields for Indoor Locomotion

Dynamic Mapping and 3D Perception Using Voxel Grid and Modified Artificial Potential Fields for Indoor Locomotion

This paper proposes an advanced 3D indoor navigation system for a mobile robot. The proposed method integrates RTAB-Map with Voxel Grid Filters and Joint Probabilistic Data Association (JPDA) to generate surrounding environment map efficiency. Additionally, the local path planner combines pure pursu...

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Bibliographic Details
Main Authors: Trihastuti Agustinah, Yurid Eka Nugraha, Aqil Rabbani Nurhadi, Vincentius Charles Maynad
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Locomotion ability
mobile robot
modified artificial potential field
voxel grid filters
Online Access:https://ieeexplore.ieee.org/document/10974978/
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