| 基于EKF的SLAM算法的一致性分析 |
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| 引用本文： | 李久胜,李永强,周荻.基于EKF的SLAM算法的一致性分析[J].计算机仿真,2008,25(6). |
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| 作者姓名： | 李久胜 李永强 周荻 |
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| 作者单位： | 1. 哈尔滨工业大学电气工程及自动化学院,黑龙江,哈尔滨,150001
2. 哈尔滨工业大学航天学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 基于EKF的SLAM算法在应用中已取得了很大的成功,但其估计算法的一致性问题却没有得到很好的解决.为了分析导致SLAM算法不一致的原因,结合自主移动机器人的仿真模型及一致性估计的一般判据,对该算法一致性成立的条件,及导致不一致的原因进行了全面的理论分析和仿真研究.理论分析指出导致EKF-SLAM算法不一致的原因在于EKF非线性算法引起的误差积累.仿真研究表明出现不一致的本质原因在于移动机器人姿态角的误差和不确定性.当姿态角的误差超过一定限度,就会导致EKF-SLAM算法不一致.研究结果表明,提高EKF-SLAM算法一致性的关键在于降低对姿态角估计的不确定性.
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| 关 键 词： | 自主移动机器人 同步定位与地图创建 扩展卡尔曼滤波 一致性 |
Analysis of the Consistency of EKF-based SLAM |
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| LI Jiu-sheng,LI Yong-qiang,ZHOU Di.Analysis of the Consistency of EKF-based SLAM[J].Computer Simulation,2008,25(6). |
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| Authors: | LI Jiu-sheng LI Yong-qiang ZHOU Di |
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| Affiliation: | LI Jiu-sheng1,LI Yong-qiang1,ZHOU Di2(1.School of Electrical Engineering , Automation,Harbin Institute of Technology,Harbin Heilongjiang 150001,China,2. School of Astronautics,China) |
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| Abstract: | The EKF based SLAM algorithm has achived great success in practical applications, however, the consistency of the algorithm has not been solved completely. In order to analyze the reason responsible for the inconsistency, a comprehensive theoretical analysis and simulation research about the condition of consistency and the reason of inconsistency are carried out, which are based on the simulation model of autonomous mobile robot and the criterion for consistency of estimation. The theoretical analysis show... |
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| Keywords: | Autonomous mobile robot Simultaneous localization and mapping(SLAM) Extended Kalman filter Consistency |
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