一种室内环境下机器人同时定位与地图构建方法

An approach for mobile robot SLAM in indoor environment

介绍了一种移动机器人室内环境下同时定位与地图构建方法,给出了整个系统的结构框图。将从激光传感信息中提取出的直线特征作为主要的环境描述特征,用EKF算法更新机器人位姿和直线特征的估计值,用一种新的数据关联方法以实现地图的最小描述。直线特征提取采改进的IEPF算法,能够快速地从数据点中得到较为精确的直线参数。实验证明整个系统具有良好的性能。

This article proposes an approach for mobile robot SLAM in indoor environment. The whole system frame is showed in it. The line feature extracted from laser data as the main feature to describe the geometrical map is chosen. It uses EKF algorithm to update the estimation of the robot＇ s pose and the parameter of the line feature, and also proposes an new approach for data association to minimize the computation complexity. An advanced IEPF algorithm is chosen for the line feature extraction. The experiments demonstrate the effectiveness of the proposed SLAM technique.