摘要
针对同步定位与地图构建SLAM(Simultaneous Localization and Mapping)算法中,单个传感器提供的信息受到传感器本身特性和周围环境制约的局限性,提出了在仅声纳更新的SLAM算法同时,引入航向和速度的多传感器更新,使得自主式水下机器人AUV(Autonomous Underwater Vehicle)的定位和构图更精确。通过对实验结果的分析验证了多传感器更新的SLAM算法的有效性。
Aiming at the limitations of the information provided by single sensor which is easily affected by surroundings and its characteristics restrict in SLAM （Simultaneous Localization and Mapping）, multi-sensor update SLAM algorithm based on only sonar update SLAM is proposed, which can improve the accuracy of SLAM for AUV （Autonomous Underwater Vehicle）. Finally, experimental results indicate that the multi-sensor update SLAM algorithm is valid.
出处
《微型机与应用》
2012年第24期61-63,共3页
Microcomputer & Its Applications
