| 移动机器人SLAM问题的研究 |
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| 引用本文： | 段锁林,谈刚,周玉勤,朱海勇.移动机器人SLAM问题的研究[J].应用声学,2016,24(4):234-236. |
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| 作者姓名： | 段锁林 谈刚 周玉勤 朱海勇 |
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| 作者单位： | 常州大学机械工程学院,常州大学机械工程学院,, |
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| 基金项目： | 江苏省科技支撑计划项目（社会发展）（BEK2013671） |
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| 摘 要： | 针对移动机器人同时定位与地图创建(SLAM)的问题,就扩展卡尔曼(EKF)算法所存在的缺陷,提出了一种改进的EKF-SLAM算法。它在扩展卡尔曼(EKF)算法上采用Rao-Blackwellise的分解思想-分解估计构架,将SLAM问题分解为路径估计和地图估计两个问题。实验表明,提出的算法大大降低了计算复杂度,提高了准确性,为在比较复杂环境下实时解决移动机器人同时定位与地图创建(SLAM)的问题提供了一种有效方法。
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| 关 键 词： | 移动机器人 同时定位与地图创建 扩展卡尔曼算法 路径估计 地图估计 |
| 收稿时间： | 2015/11/4 0:00:00 |
| 修稿时间： | 3/7/2016 12:00:00 AM |
THE RESEARCH ON THE PROBLEM of SLAM FOR MOBILE ROBOTS |
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| Duan Suolin,Tan Gang,Zhou Yuqin and Zhu Haiyong.THE RESEARCH ON THE PROBLEM of SLAM FOR MOBILE ROBOTS[J].Applied Acoustics,2016,24(4):234-236. |
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| Authors: | Duan Suolin Tan Gang Zhou Yuqin and Zhu Haiyong |
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| Institution: | Robotics Institute of Changzhou University,Jiangsu Changzhou 213164,Robotics Institute of Changzhou University,Jiangsu Changzhou 213164,, |
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| Abstract: | Aiming at the problem of simultaneous localization and mapping(SLAM) for mobile robots, considering the existing defects of extended Kalman (EKF) algorithm, an improved EKF-SLAM algorithm was proposed. It put the decomposition thought of Rao-Blackwellise on the extended Kalman (EKF) algorithm - Decomposition Estimate framework ,which broke down the SLAM problem into the two issues of path estimation and map the estimated.The experiment shows that the algorithm greatly reduces the computational complexity and improves the accuracy so it provides an effective method for the problem of simultaneous localization and mapping (SLAM) for mobile robots in the more complex environment. |
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| Keywords: | mobile robots imultaneous localization and mapping (SLAM) extended Kalman (EKF) algorithm path estimation map the estimated |
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