Cluster Computing

, Volume 22, Supplement 6, pp 14207–14218 | Cite as

A navigation algorithm of the mobile robot in the indoor and dynamic environment based on the PF-SLAM algorithm

  • YuPei YanEmail author
  • SengFat Wong


This paper proposes a navigation algorithm for the mobile robot which can save lots of running distances, running time and mechanical loss of the mobile robot, usually the real mobile robot is established on the embedded system and works in the indoor and dynamic environment, so this paper proposes a new algorithm to obtain the accurate moving direction of the mobile robot where the GPS and corresponding sensors are unavailable, it also proposes a navigation algorithm for the mobile robot in the dynamic environment based on the PF-SLAM algorithm which combines the Particle Filter and FAST-SLAM algorithm, they are very suitable running on the embedded system because it avoids the large complex computation, finally the simulation of the proposed algorithm is shown in the paper, the corresponding real experiment is carried out to prove the effectiveness of the algorithm for the mobile robot in our laboratory dynamic environment.


Navigation Mobile robot Particle Filter PF-SLAM 


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© Springer Science+Business Media, LLC, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Department of Electromechanical EngineeringUniversity of MacauMacaoChina

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