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SLAM问题中机器人定位误差分析与控制 被引量：35

Analysis and Control of Robot Position Error in SLAM
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摘要 移动机器人同步定位与建图问题(Simultaneous localization and mapping,SLAM)是机器人能否在未知环境中实现完全自主的关键问题之一.其中,机器人定位估计对于保持地图的一致性非常重要.本文分析了SLAM问题中机器人定位误差的收敛特性.分析表明随着机器人的运动,机器人定位误差总体上逐渐增大;在完全未知环境中无法预测机器人定位误差的上限.根据理论分析,本文提出了一种控制机器人定位误差在单位距离上增长速度的算法.该算法通过搜索获得满足定位误差限制的最佳的机器人运动速度,从而控制机器人定位误差的增长. The simultaneous localization and mapping（SLAM）problem is one of the key problems for mobile robots to be completely autonomous in unknown environments.The robot position estimation is very important to the consistency of SLAM.This paper presents an analysis of the convergence properties of the robot position error.It is found that as a whole,the robot position error increases with the movement of the robot.Based on theoretical analysis,an algorithm is designed to control the increasing speed of the robot position error.This algorithm searches for the best speed of the robot that satisfies the limitation to the robot position error increasing.
作者 季秀才 郑志强 张辉
机构地区 国防科技大学机电工程与自动化学院自动控制系
出处 《自动化学报》 EI CSCD 北大核心 2008年第3期323-330,共8页 Acta Automatica Sinica
关键词 SLAM问题 移动机器人 定位误差 误差控制 SLAM mobile robots position error error control
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19

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共引文献59

同被引文献331

引证文献35

二级引证文献193

自动化学报
2008年 第3期

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