陈炜楠, 刘冠峰, 李俊良, 苏泽荣, 管贻生, 张宏. 室内环境的元胞自动机SLAM算法[J]. 机器人, 2016, 38(2): 169-177.DOI: 10.13973/j.cnki.robot.2016.0169.
CHEN Weinan, LIU Guanfeng, LI Junliang, SU Zerong, GUAN Yisheng, ZHANG Hong. An Indoor SLAM Algorithm Based on Cellular Automata. ROBOT, 2016, 38(2): 169-177. DOI: 10.13973/j.cnki.robot.2016.0169.
摘要
针对人工室内环境的同时定位与构图（SLAM）问题，将元胞自动机（CA）引入到传统 SLAM 算法的迭代过程，建立“SLAM－CA生长－重定位”的闭环作用机制．利用室内规则环境的特性，以及大多数室内机器人应用领域已知先验地图的特点，对室内 SLAM 问题开展针对性的研究．通过仿真与实验证明，针对人工室内环境，该算法使得墙壁、出入口与直角特征更加明显，“穿墙”现象得到一定程度解决，改善了构图效果，提高了定位精度和路径规划可行性．
To improve simultaneous localization and mapping (SLAM) in indoor environments, the cellular automata (CA) is introduced into the iterative process of traditional SLAM algorithm and "SLAM-CA-relocation" closed-loop mechanism is established. Based on the characteristics of the regular indoor environment and a priori map in most mobile robot applications, the indoor SLAM problem is further studied. In the simulations and experiments in artificial indoor environments, the features of wall, exit, doors and right-angle parts become more clear, the problem of "through walls" is solved to some extent, the mapping quality is improved, the localization precision is increased, and the feasibility of path planning is also enhanced.
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