| 一种基于特征地图的移动机器人SLAM方案 |
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| 引用本文： | 严文,潘炼,陶辉,严共灿.一种基于特征地图的移动机器人SLAM方案[J].计算机测量与控制,2011,19(4). |
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| 作者姓名： | 严文 潘炼 陶辉 严共灿 |
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| 作者单位： | 武汉科技大学信息科学与工程学院,湖北,武汉,430081 |
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| 基金项目： | 湖北省自然科学基金项目 |
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| 摘 要： | 设计了一种结构化环境中基于特征地图的地图创建方案;采用激光测距仪进行特征地图创建,利用"聚合-分害虫-聚合"的方法来提取线段表示环境信息实现局部地图创建;为了实现移动机器人的同时定位与地图创建,采用扩展卡尔曼滤波方法对机器人的位姿与地图信息进行预测及更新,结合状态估计和数据关联理论,实验显示x的校正量保持在±0.9cm之内;y的校正量保持在±2.5cm之内;θ的校正量在±1.2之内,实现了基于扩展卡尔曼滤波器的SLAM.
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| 关 键 词： | 移动机器人 激光测距仪 地图创建 同时定位和地图创建 |
Mobile Robot Simultaneous Localization and Mapping Based on Feature Map |
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| Yan Wen,Pan Lian,Tao Hui,Yan Gongcan.Mobile Robot Simultaneous Localization and Mapping Based on Feature Map[J].Computer Measurement & Control,2011,19(4). |
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| Authors: | Yan Wen Pan Lian Tao Hui Yan Gongcan |
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| Affiliation: | Yan Wen,Pan Lian,Tao Hui,Yan Gongcan(College of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081,China) |
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| Abstract: | A Map building algorithm based on feature map in structured indoor environment is presented in this paper.this thesis introduces a method of feature-based map building based on laser range finder.In the process of local map building,an improved merge-divided-merge method is adopted,using line segments to denote the environment information.To realize simultaneous localization and mapping,an extended Kalman filter(EKF) is used to update the robot position and the environment character.Combining state estimate... |
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| Keywords: | mobile robot laser range finder map building simultaneous localization and mapping(SLAM) |
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