摘要
自主移动机器人的即时定位与地图构建是机器人领域中的关键问题。文中对自主移动机器人即时定位与地图构建研究的两个主要问题进行了分析,研究了不确定信息的描述和处理方法,以及数据关联的方法。综述了现阶段即时定位与地图构建的实现方法,其中包括两种卡尔曼滤波算法和粒子滤波算法,以及基于视觉的SLAM算法。通过分析现有算法的特点,提出了自主移动机器人即时定位与地图构建未来研究的发展方向。
The simultaneous localization and mapping （SLAM） of autonomous mobile robot is the key problem in the field of robot. The two major problems of SLAM are analyzed in this paper, which are the way to describe and process the uncertain information and the method Of data association. The implementation methods of SLAM at pres-ent are introduced, including the two kinds of kalman filters, particle filter and vision-based SLAM. Finally, by analyzing the different features of each method, further research directions of SLAM are pointed out.
出处
《电子科技》
2013年第9期177-178,181,共3页
Electronic Science and Technology
