Lieping Zhang1,2, Xiaoxu Shi1,2, Liu Tang1,2, Yilin Wang3, Jiansheng Peng4, Jianchu Zou4,*
CMC-Computers, Materials & Continua, Vol.78, No.2, pp. 2111-2136, 2024, DOI:10.32604/cmc.2024.047235
Abstract A Rapid-exploration Random Tree (RRT) autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping (SLAM) algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile robot. Firstly, an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward, which introduces the reference value of guide nodes’ deflection probability into the random sampling function so that the global… More >
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