SLAM中机器人定位误差控制研究

Research on the Location Error Control of Robot in SLAM

在SLAM中,机器人的位置和环境都是未知的,伴随运动距离增大的是自身位置估计误差的增大,而自身位姿的不准确使得创建的环境地图失真,地图失真又将增大机器人的位置误差.为保证机器人定位和地图构建精度,采用逆推法计算机器人运动距离,再与里程计记录的前后时刻位姿计算出的距离相比较,设定误差阈值,校正机器人的实际位姿,通过实验,验证了本方法的有效性,减小了机器人定位误差.

In SLAM,the location and the environment is unknown for the robot,and location error is increasing with the movement distance,which will result in the environment map building is inaccurate map,then,the wrong environment map will increase the location error of the robot. In order to ensure the precision of localization and map building,the reverse method to calculate the robot movement distance is adopted,by comparing with the distance calculated by the location of the moments before and after in odometer,setting the of error threshold,correcting the actual location of robot. Through the experiment,the validity of this method is verified,and the robot location error is reduced.