移动机器人路径设计与定位计算

Localization and path planning for mobile robot

为解决机器人自主导航中的同时定位与地图构建问题,提出采用SLAM系统实现机器人在一个未知环境和位置开始,通过环境观测,递增地构建环境地图,并同时运用环境地图实现机器人定位的解决方案.仿真实验证明了所建立的SLAM系统是一种切实可行的导航方法,为提高移动机器人自主性和智能化提供了一条新的技术途径.

In order to realize the localization and path planning of autonomous navigation for mobile robot, a Simultaneous Localization and Map-building system （SLAM） is put forward. By means of environment observation, environment map is established dynamically, and then the localization of the robot is realized. The resuits of simulation testify that the SLAM system is feasible to realize the navigation of robot, which provides a new technology for the improvement of autonomy and intelligentization for mobile robot.