传感节点优化覆盖机器人SLAM算法模型及仿真

Model Simulation of Robot SLAM Algorithm Based on Optimal Coverage of Sensor Nodes

为准确有效实现对移动机器人的同时定位和环境创建,在标准粒子滤波SLAM算法的基础上,对其进行算法上的改进,提出基于传感节点优化覆盖的SLAM算法,新的算法克服标准粒子滤波SLAM算法在机器人位姿同时定位和环境地图创建上的不准的缺点,进行传感节点优化覆盖机器人SLAM定位信息节点高覆盖度构建,改进的粒子滤波SLAM算法实现对现有信息下搜索到理想结果,在这个理想结果的基础上再次进行局部寻优,得到另一个局部状态下的理想结果,如此循环往复,最终得到全局准确的机器人SLAM信息。仿真实验表明,在不同的运动速度下计算机器人SLAM同时定位的时延参数的影响几乎为0,显示了新算法优越的定位稳定性能。

An improved SLAM method based on the combination of partial filter SLAM algorithm and optimal coverage ofsensor nodes method in this paper. The new method could overcome the weakness of traditional method, and it realized theoptimal converge in the SLAM location information of robot, and it searched the optimal result based on the current information. On the basis of the searching result, the location searching optimal result was carried out again. This processing wastaken again and again, and the accurate location information was got finally. The simulation result shows that the affect ofthe delay time in the SLAM experiment for the real robot is near to 0, and it shows perfect performance and stable locationproperty in the application.