| 自主移动机器人的室内结构化环境地图创建 |
| |
| 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. |
| |
| 作者姓名： | 陈家乾 何 衍 蒋静坪 |
| |
| 作者单位： | 浙江大学电气工程学院,浙江,杭州,310027 |
| |
| 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.
|
| 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 |
| 收稿时间： | 2006/5/24 0:00:00 |
| 修稿时间： | 1/7/2008 12:00:00 AM |
Map building with autonomous mobile robot in the structured indoor environment |
| |
| CHEN Jia-qian,HE Yan and JIANG Jing-ping.Map building with autonomous mobile robot in the structured indoor environment[J].Control Theory & Applications,2008,25(4):767-772. |
| |
| Authors: | CHEN Jia-qian HE Yan and JIANG Jing-ping |
| |
| Affiliation: | College of Electrical Engineering, Zhejiang University, Hangzhou Zhejiang 310027, China;College of Electrical Engineering, Zhejiang University, Hangzhou Zhejiang 310027, China;College of Electrical Engineering, Zhejiang University, Hangzhou Zhejiang 310027, China |
| |
| Abstract: | 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. |
| |
| Keywords: | simultaneous localization and mapping(SLAM) autonomous mobile-robot extended Kalman filter(EKF) direct control model based on position and orientation consistent map |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《控制理论与应用》浏览原始摘要信息 |
|
点击此处可从《控制理论与应用》下载全文 |
|
