摘要
同步定位与地图创建(SLAM)是水下航行器在全球范围内实现自主导航的一个基础且重要问题。首先介绍了SLAM算法在水下航行器应用的国内外最新进展,指出了SLAM算法所面临的问题,阐述了研究的环境描述、环境特征提取和不确定信息的描述等难点问题,并对SLAM算法的主要实现方式进行了归纳。最后结合水下航行器的特殊应用环境,探讨了未来SLAM算法的研究趋势和发展方向。
Simultaneous localization and mapping （ SLAM ） is vital to worldwide autonomous navigation of autonomous underwater vehicle（AUV）. We introduce the latest progress of SLAM algorithm for AUV both at home and abroad, with emphasis on SLAM algorithm in complicated underwater environment, and indicate the difficult problems in SLAM algorithm such as environment de- scription,environment feature extraction, and uncertain information description. Moreover, we sum up some typical implementing methods of SLAM algorithm, and analyze the trends of SLAM algorithm research and development according to the special application environment of AUV.
出处
《鱼雷技术》
2010年第1期41-48,共8页
Torpedo Technology
基金
新世纪优秀人才支持计划项目资助(NCET-06-0877)
