中国机械工程 ›› 2011, Vol. 22 ›› Issue (24): 2927-2930.

• 机械基础工程 • 上一篇    下一篇

基于扩展Kalman滤波器算法的移动机器人同步定位与建图

楼晓春
  

  1. 杭州职业技术学院,杭州,310018
  • 出版日期:2011-12-26 发布日期:2011-12-29

Simultaneous Localization and Mapping Algorithm of a Mobile Robot Based on Extended Kalman Filter

Lou Xiaochun
  

  1. Hangzhou Vocational and Technical College,Hangzhou,310018
  • Online:2011-12-26 Published:2011-12-29

摘要:

针对移动机器人的同步定位与建图(SLAM)问题,提出了一种基于改进的扩展Kalman滤波算法的同步定位与建图方法。通过建立基于直线特征提取的机器人观测模型,推导了SLAM建图的预测和更新算式,设计了基于特征点数目的SLAM预测与更新率算子,实现了移动机器人的同步定位与建图。实验结果表明该方法有效、可行。

关键词:

Abstract:

For mobile robot simultaneous localization and mapping(SLAM) key issues,an improved
SLAM method based on extended Kalman filter was presented.Through the
establishment of the observation model based on line features,the prediction and
state-updating of the SLAM were formulated,the computing cycles were designed based
 on the number of feature points and the simultaneous localization and mapping were realized.Experimental results show that the method is effective and feasible.

Key words: mobile robot, simultaneous localization and mapping(SLAM), extended Kalman filter(EKF), line feature

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