摘要
针对未知环境中运动的自主移动机器人的控制律与运动路径需要在同时定位与地图创建过程中同步产生的问题,提出了运用行为动力学与滚动窗口路径规划的同时定位与地图创建方法。应用行为动力学模型计算机器人运动速度和导航角,确定控制律,同时根据滚动窗口中信息进行定位与地图创建,并自主规划出可行路径,再将滚动窗口地图融合到全局地图中,实现机器人主动式同时定位与地图创建。仿真实验表明,在根据机器人任务而灵活设置单个或多个目标点的情况下,该方法能够实现机器人在自主运动的过程中有效地完成同时定位与地图创建任务,并通过相关性能指标验证了算法的有效性。
Aiming at the problem that the control law and motion path must be produced synchronously in the process of simultaneous localization and mapping （SLAM） in unknown environment. A new SLAM algorithm combining rolling windows and behavioral dynamics is presented. Velocity and navigation angle are calculated by behavioral dynamics, and the control law of robot motion is determined. According to the information of rolling windows, the task of SLAM is fulfilled and an available path is also planned in the rolling window. The rolling window map is integrated into the global map, the overall situation SLAM is complied. Simulation results show that, in the case of setting of single or multiple target point flexibly according to the robot task, the robot can complete the task of SLAM effectively with the proposed algorithm in the process of voluntary movement. The relevant performance indicators prove the effectiveness of the algorithm.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2012年第11期2334-2338,共5页
Systems Engineering and Electronics
基金
国家自然科学基金(10872160)
陕西省教育厅科学研究计划项目(12JK0518)
西安工程大学博士科研启动基金(BS1207)资助课题
关键词
同时定位与地图创建
行为动力学
滚动窗口
路径规划
simultaneous localization and mapping （SLAM）
behavioral dynamics
rolling window
path plannin
