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强跟踪滤波在移动机器人SLAM的应用研究

Study on the Application of STF in Mobile Robot SLAM
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摘要 针对移动机器人的运行特点,分析机器人常用SLAM方法,提出将STF应用于移动机器人SLAM。主要结合STF算法优点,通过引入渐消因子,解决机器人模型未知和状态变化不连续的问题,将算法用于环境地图的创建和机器人的定位。实验结果证明该应用比其它方法定位精度高,能够满足在大范围室内环境下SLAM的需求。 According to the operation characteristics of mobile robots,the general SLAM methods of robot are analyzed and presented,that is STF can be applied to SLAM of mobile robots.STF algorithm are used in map building and robot localizing by introducing fading factor which can help solve the problems such as lack of robot model and discontinuity of state transformation.The experiments show that the method can implement locating more precisely than that of the other methods and fulfills the requirements of SLAM in various indoor environments.
作者 曾静 敬斌 宋海涛 张国良
机构地区 第二炮兵工程学院
出处 《航天控制》 CSCD 北大核心 2010年第2期3-6,11,共5页 Aerospace Control
基金 陕西省科技攻关项目(2008K04-19) 第二炮兵工程学院创新性研究项目
关键词 移动机器人 SLAM STF 地图创建 Mobile robot SLAM STF Mapping
分类号 TP242.6 [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12

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