The Navigation of Mobile Robot in the Indoor Dynamic Unknown Environment Based on Decision Tree Algorithm

This study proposes an optimized algorithm for the navigation of the mobile robot in the indoor and dynamic unknown environment based on the decision tree algorithm. Firstly, the error of the yaw value outputted from IMU sensor fusion module is analyzed in the indoor environment; then, the adaptive...

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Detalles Bibliográficos
Autores principales: Yan, Yupei, Ma, Weimin, Li, Yangmin, Wong, Sengfat, He, Ping, Zhu, Shaoping, Yin, Xuemei
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Hindawi 2022
Materias:
Research Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9236824/
https://www.ncbi.nlm.nih.gov/pubmed/35769275
http://dx.doi.org/10.1155/2022/3492175
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author Yan, Yupei
Ma, Weimin
Li, Yangmin
Wong, Sengfat
He, Ping
Zhu, Shaoping
Yin, Xuemei
author_facet Yan, Yupei
Ma, Weimin
Li, Yangmin
Wong, Sengfat
He, Ping
Zhu, Shaoping
Yin, Xuemei
author_sort Yan, Yupei
collection PubMed
description This study proposes an optimized algorithm for the navigation of the mobile robot in the indoor and dynamic unknown environment based on the decision tree algorithm. Firstly, the error of the yaw value outputted from IMU sensor fusion module is analyzed in the indoor environment; then, the adaptive FAST SLAM is proposed to optimize the yaw value from the odometer; in the next, a decision tree algorithm is applied which predicts the correct moving direction of the mobile robot through the outputted yaw value from the IMU sensor fusion module and adaptive FAST SLAM of the odometer data in the indoor and dynamic environment; the following is the navigation algorithm proposed for the mobile robot in the dynamic and unknown environment; finally, a real mobile robot is designed to verify the proposed algorithm.The final result shows the proposed algorithms are valid and effective.
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spelling pubmed-92368242022-06-28 The Navigation of Mobile Robot in the Indoor Dynamic Unknown Environment Based on Decision Tree Algorithm Yan, Yupei Ma, Weimin Li, Yangmin Wong, Sengfat He, Ping Zhu, Shaoping Yin, Xuemei Comput Intell Neurosci Research Article This study proposes an optimized algorithm for the navigation of the mobile robot in the indoor and dynamic unknown environment based on the decision tree algorithm. Firstly, the error of the yaw value outputted from IMU sensor fusion module is analyzed in the indoor environment; then, the adaptive FAST SLAM is proposed to optimize the yaw value from the odometer; in the next, a decision tree algorithm is applied which predicts the correct moving direction of the mobile robot through the outputted yaw value from the IMU sensor fusion module and adaptive FAST SLAM of the odometer data in the indoor and dynamic environment; the following is the navigation algorithm proposed for the mobile robot in the dynamic and unknown environment; finally, a real mobile robot is designed to verify the proposed algorithm.The final result shows the proposed algorithms are valid and effective. Hindawi 2022-06-20 /pmc/articles/PMC9236824/ /pubmed/35769275 http://dx.doi.org/10.1155/2022/3492175 Text en Copyright © 2022 Yupei Yan et al. https://creativecommons.org/licenses/by/4.0/This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
spellingShingle Research Article
Yan, Yupei
Ma, Weimin
Li, Yangmin
Wong, Sengfat
He, Ping
Zhu, Shaoping
Yin, Xuemei
The Navigation of Mobile Robot in the Indoor Dynamic Unknown Environment Based on Decision Tree Algorithm
title The Navigation of Mobile Robot in the Indoor Dynamic Unknown Environment Based on Decision Tree Algorithm
title_full The Navigation of Mobile Robot in the Indoor Dynamic Unknown Environment Based on Decision Tree Algorithm
title_fullStr The Navigation of Mobile Robot in the Indoor Dynamic Unknown Environment Based on Decision Tree Algorithm
title_full_unstemmed The Navigation of Mobile Robot in the Indoor Dynamic Unknown Environment Based on Decision Tree Algorithm
title_short The Navigation of Mobile Robot in the Indoor Dynamic Unknown Environment Based on Decision Tree Algorithm
title_sort navigation of mobile robot in the indoor dynamic unknown environment based on decision tree algorithm
topic Research Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9236824/
https://www.ncbi.nlm.nih.gov/pubmed/35769275
http://dx.doi.org/10.1155/2022/3492175
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