Multi-Objective Optimization of Loop Closure Detection Parameters for Indoor 2D Simultaneous Localization and Mapping

Research and Implementation of Autonomous Navigation for Mobile Robots Based on SLAM Algorithm under ROS

Aiming at the problems of low mapping accuracy, slow path planning efficiency, and high radar frequency requirements in the process of mobile robot mapping and navigation in an indoor environment, this paper proposes a four-wheel drive adaptive robot positioning and navigation system based on ROS. By comparing and analyzing the mapping effects of various 2D-SLAM algorithms (Gmapping, Karto SLAM, and Hector SLAM), the Karto SLAM algorithm is used for map building. By comparing the Dijkstra algorithm with the A* algorithm, the A* algorithm is used for heuristic searches, which improves the efficiency of path planning. The DWA algorithm is used for local path planning, and real-time path planning is carried out by combining sensor data, which have a good obstacle avoidance performance. The mathematical model of four-wheel adaptive robot sliding steering was established, and the URDF model of the mobile robot was established under a ROS system. The map environment was built in Gazebo, and the simulation experiment was carried out by integrating lidar and odometer data, so as to realize the functions of mobile robot scanning mapping and autonomous obstacle avoidance navigation. The communication between the ROS system and STM32 is realized, the packaging of the ROS chassis node is completed, and the ROS chassis node has the function of receiving speed commands and feeding back odometer data and TF transformation, and the slip rate of the four-wheel robot in situ steering is successfully measured, making the chassis pose more accurate. Simulation tests and experimental verification show that the system has a high precision in environment map building and can achieve accurate navigation tasks.

Hyper-Angle Exploitative Searching for Enabling Multi-Objective Optimization of Fog Computing

Fog computing is an emerging technology. It has the potential of enabling various wireless networks to offer computational services based on certain requirements given by the user. Typically, the users give their computing tasks to the network manager that has the responsibility of allocating needed fog nodes optimally for conducting the computation effectively. The optimal allocation of nodes with respect to various metrics is essential for fast execution and stable, energy-efficient, balanced, and cost-effective allocation. This article aims to optimize multiple objectives using fog computing by developing multi-objective optimization with high exploitive searching. The developed algorithm is an evolutionary genetic type designated as Hyper Angle Exploitative Searching (HAES). It uses hyper angle along with crowding distance for prioritizing solutions within the same rank and selecting the highest priority solutions. The approach was evaluated on multi-objective mathematical problems and its superiority was revealed by comparing its performance with benchmark approaches. A framework of multi-criteria optimization for fog computing was proposed, the Fog Computing Closed Loop Model (FCCL). Results have shown that HAES outperforms other relevant benchmarks in terms of non-domination and optimality metrics with over 70% confidence of the t-test for rejecting the null-hypothesis of non-superiority in terms of the domination metric set coverage.