摘要
文中阐述一种移动机器人SLAM问题的解决方法,首先利用激光测距仪得到环境中障碍物的监测图表,然后增量的构建全局地图。利用扩展卡尔曼滤波器(EKF)创建移动机器人定位计算的有界估量;最后通过仿真和物理实验验证了该方法的正确性。可为解决机器人在未知环境下的地图创建与定位问题提供理论依据,具有实际意义。
A method of the SLAM algorithm for a mobile robot is proposed.Using laser rangefinder,can relative obstacle observation profile,a map of the world can be build according to the proposed boservations.simultaneously,a bounded estimate of mobile robot location by the extended Kalman filter,Finally,the simulation and experiment results verified the correctness of the forward SLAM algorithml and the inverse SLAM solution.The result can be further used for navigation about unknown environment and have a practical significance.
出处
《电子设计工程》
2012年第1期104-106,共3页
Electronic Design Engineering
基金
国家自然科学基金项目(61075087)
关键词
移动机器人
激光测距仪
扩展卡尔曼滤波器
SLAM
mobile robot
laser range finder
extended Kalman filter
simultaneous localization and mapping
