| 轮式移动机器人FastSLAM算法研究 |
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| 引用本文： | 陶辉,吴怀宇,程磊,张雄希,杨升.轮式移动机器人FastSLAM算法研究[J].哈尔滨理工大学学报,2011,16(1):42-47. |
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| 作者姓名： | 陶辉 吴怀宇 程磊 张雄希 杨升 |
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| 作者单位： | 教育部冶金自动化与检测技术工程研究中心,湖北,武汉,430081 |
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| 基金项目： | 国家自然科学基金(50675161) |
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| 摘 要： | 移动机器人在复杂未知环境中精确定位并对周围环境进行地图构建有助于机器人对环境的准确理解,是机器人进一步完成各种复杂智能任务如路径规划和避障等的关键和前提.通过对移动机器人未知环境中定位和地图创建问题进行讨论,设计了一种构建2D可视化路标特征地图的方案,该方案结合单目视觉传感器和里程计的鲁棒感知模型,建立包含世界坐标系下...
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| 关 键 词： | 移动机器人 地图创建 可视化路标 特征地图 |
The Research of Wheeled Mobile Robot FastSLAM Algorithm |
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| TAO Hui,WU Huai-yu,CHENG Lei,ZHANG Xiong-xi,YANG Sheng.The Research of Wheeled Mobile Robot FastSLAM Algorithm[J].Journal of Harbin University of Science and Technology,2011,16(1):42-47. |
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| Authors: | TAO Hui WU Huai-yu CHENG Lei ZHANG Xiong-xi YANG Sheng |
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| Affiliation: | TAO Hui,WU Huai-yu,CHENG Lei,ZHANG Xiong-xi,YANG Sheng(Engineering Research Center for Metallurgical Automation and Detecting Technology,Ministry of Education,Wuhan 430081,China) |
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| Abstract: | Precise localization of the mobile robot and mapping of unknown environment help the robot to know the environment better,which is the key for the robot to achieve future complex intelligent tasks such as path planning and obstacle avoidance.By discussing mobile robot localization and mapping in an unknown environment.We design a method to build two-dimensional visual landmarks feature map.The method is based on monocular vision sensor and odometer of the robust perceptual model to build the three-dimension... |
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| Keywords: | mobile robot mapping visual landmarks feature map |
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