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移动机器人的同步自定位与地图创建研究进展 被引量：60

Review on the achievements in simultaneous localization and map building for mobile robot
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摘要 自主移动机器人在未知环境下作业时,首先要解决的基本问题就是其自身的定位问题,而定位问题与环境地图的创建又是相辅相成的.本文从相关理论和关键技术等方面,系统地总结了同步自定位和地图创建的研究现状,着重介绍了基于概率论的方法,分析了目前存在的难题,并指出了未来研究的发展方向. <Abstrcat> When autonomous mobile robots operate in an uncertain environment,one of the most fundamental tasks is to localize itself.The location is associated with map building.Based on related theories and technologies,this paper summarizes the achievements in simultaneous localization and mapping systematically,introduces probabilistic approach in detail,analyzes the current open issues and indicates the prospective research direction in the future development.
作者 陈卫东 张飞
机构地区 上海交通大学自动化系
出处 《控制理论与应用》 EI CAS CSCD 北大核心 2005年第3期455-460,共6页 Control Theory & Applications
基金 国家自然科学基金资助项目(60475032).
关键词 移动机器人 定位 地图创建 未知环境 KALMAN滤波 mobile robot localization map building uncertain environment Kalman filter
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献32

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二级参考文献7

  • 1Borenstein J, Everett B, Feng L. Navigating Mobile Robots: Systems and Techniques. Natick: A K Peters Press, 1996.67～96
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  • 7王卫华,陈卫东,席裕庚.基于不确定信息的移动机器人地图创建研究进展[J].机器人,2001,23(6):563-568. 被引量：28

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引证文献60

二级引证文献335

控制理论与应用
2005年 第3期

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