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一种改进的粒子滤波SLAM算法 被引量：3

Modified particle filter SLAM algorithm
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摘要 提出一种改进的粒子滤波SLAM(simultaneous localization and map building)同时定位和地图创建实现方法。改进方法让机器人大约行进10步完成基于局部已创建地图下的粒子滤波定位后,再利用激光传感器探测环境并更新创建的地图;同时在利用粒子滤波定位时,使粒子只分布在由航位推算法得出的机器人位姿附近,从而可有效地减少粒子的数量。实验结果表明,与标准的粒子滤波SLAM算法比较,改进算法提高了机器人SLAM过程中定位和地图创建的精度和实时性,并为移动机器人在室外未知环境同时定位和地图创建提供了新方法。 This paper introduced an improved PF-SLAM （particle filtering-SLAM） approach.The improved method first let the robot run about ten steps and finished localizition based on the existing maps,and then used laser rangefinder to observe environments and updates maps.At the same time,in this method,particles were distributed only around the robot.The experiment results indicate that the precision and real-time performance of localization and mapping can be improved.It gives a new method for robot SLAM in outdoor unknown environments.
作者 郭利进 王化祥 孟庆浩 邱亚男
机构地区 天津大学电气与自动化工程学院
出处 《计算机应用研究》 CSCD 北大核心 2008年第6期1698-1700,共3页 Application Research of Computers
基金 国家自然科学基金资助项目(60475028)
关键词 局部地图 同时定位和地图创建 粒子滤波算法 贝叶斯规则 栅格地图 local maps SLAM particle filter algorithm Bayesian rule occupied grid maps
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献15

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同被引文献26

  • 1陈锻生,刘政凯.肤色检测技术综述[J].计算机学报,2006,29(2):194-207. 被引量：119
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计算机应用研究
2008年 第6期

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