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基于超声测距特征提取的移动机器人EKF SLAM研究

Research on Mobile Robot EKF SLAM Based on Ultrasonic Range Finding Feature Extraction
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摘要 根据超声测距传感器的测量特点,提出了适于室内环境的直线多次测量模型。先判断出结构化特征类型,再计算得出特征位置参数,即用超声测距传感器同时获得了距离和方位测量。使用Matlab软件编写程序代码,对基于超声测距特征提取的移动机器人EKFSLAM进行仿真验证,最后给出仿真验证结果。 Considering the characteristics of ultrasonic range finding sensor,a line model based on many measurements was presented which was applicable to indoor circumstance.The type of structural features was estimated,and the position parameters of features were obtained through calculating.Both range and bearing measurements were realized by ultrasonic range finding sensor at the same time.Through the program utilizing Matlab,the mobile robot EKFSLAM based on ultrasonic range finding feature extraction was simulated and verified,and the results of simulation were given.
作者 王忠善 何欣 付亮亮
机构地区 中国科学院长春光学精密机械与物理研究所空间光学部
出处 《光机电信息》 2010年第7期40-44,共5页 OME Information
关键词 SLAM EKF 特征提取 MATLAB仿真 SLAM EKF feature extraction Matlab simulation
分类号 TP391 [自动化与计算机技术—计算机应用技术]
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光机电信息
2010年 第7期

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