摘要
同时定位与地图构建(SLAM)方法是自主式水下机器人导航领域的研究热点。首先介绍了水下SLAM算法的发展现状,总结了水下SLAM的主要实现方法和目前存在的难点问题,最后探讨了水下SLAM的发展趋势。
Simultaneous localization and mapping technology is currently a hot research topic in the field of autonomous underwater vehicles. A review of the state of the art of AUV-SLAM as well as the main algorithms and difficulties,is presented. In addition,the development trend in future is discussed.
作者
聂永芳
潘爽
孙东平
施建礼
Nie Yongfang;Pan Shuang;Sun Dongping;Shi Jianli(Department of Strategic Missile and Underwater Weapon, Naval Submarine Academy, Qingdao 266071, China;Department of Automation, Tsinghua University, Beijing 100084, China)
出处
《航天控制》
CSCD
北大核心
2018年第3期79-85,98,共8页
Aerospace Control
基金
国家自然科学基金(61703228)
