| 引用本文: | 陈家乾,何 衍,蒋静坪.自主移动机器人的室内结构化环境地图创建[J].控制理论与应用,2008,25(4):767~772.[点击复制] |
| CHEN Jia-qian,HE Yan,JIANG Jing-ping.Map building with autonomous mobile robot in the structured indoor environment[J].Control Theory and Technology,2008,25(4):767~772.[点击复制] |
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| 自主移动机器人的室内结构化环境地图创建 |
| Map building with autonomous mobile robot in the structured indoor environment |
| 摘要点击 1607 全文点击 1510 投稿时间：2006-05-24 修订日期：2008-01-07 |
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| DOI编号 |
| 2008,25(4):767-772 |
| 中文关键词 同时定位和地图创建 自主移动机器人 扩展卡尔曼滤波器 直接位姿控制模型 一致性地图 |
| 英文关键词 simultaneous localization and mapping(SLAM) autonomous mobile-robot extended Kalman filter(EKF) direct control model based on position and orientation consistent map |
| 基金项目 国家自然科学基金资助项目(60405012, 60675055). |
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| 中文摘要 |
| 定位与地图创建是自主移动机器人领域研究的重要课题. 本文阐述了一种以扩展卡尔曼滤波算法为主要框架, 运用直接位姿控制模型描述机器人运动的算法, 实现了机器人在室内结构化环境中的同时定位和地图创建.仿真与实验结果表明, 里程计信息无法满足定位和创建环境地图的要求, 本文算法则能够实现机器人的精确定位,并生成满足一致性要求的地图. |
| 英文摘要 |
| Localization and mapping are two important topics in the autonomous mobile-robot research. Within the framework of the extended Kalman filter algorithm, an efficient approach based on the direct motion control model is proposed, which can simultaneously localize the robot and build the map in the structured indoor environment. Simulation and experiment results indicate that odometer information can not solve the problems; but this approach can precisely localize the robot and build the consistent map. |
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