迟健男, 徐心和. 移动机器人即时定位与地图创建问题研究[J]. 机器人, 2004, 26(1): 92-96.
引用本文: 迟健男, 徐心和. 移动机器人即时定位与地图创建问题研究[J]. 机器人, 2004, 26(1): 92-96.
CHI Jian-nan, XU Xin-he. RESEARCH ON SIMULTANEOUS LOCALIZATION AND MAPPING OF MOBILE ROBOT[J]. ROBOT, 2004, 26(1): 92-96.
Citation: CHI Jian-nan, XU Xin-he. RESEARCH ON SIMULTANEOUS LOCALIZATION AND MAPPING OF MOBILE ROBOT[J]. ROBOT, 2004, 26(1): 92-96.

移动机器人即时定位与地图创建问题研究

RESEARCH ON SIMULTANEOUS LOCALIZATION AND MAPPING OF MOBILE ROBOT

  • 摘要: 基于环境特征的移动机器人即时定位与地图创建是机器人领域的开放性课题.本文从环境特征提取、定位与地图创建、数据相关三个方面对移动机器人即时定位与地图创建问题进行了综述.对移动机器人定位问题作了概述.探讨了室内环境下特征提取方法.详细地论述了定位与地图创建中面临的主要问题及其解决方法;阐述了数据相关问题的基本思想.最后,根据近期文献指出了该领域今后的研究方向.

     

    Abstract: Feature-based mobile robot simultaneous localization and mapping (SLAM) is an open problem in the field of robotics. This paper summarizes the current research on SLAM in three aspects: feature extraction,methods and data association. An overview of mobile robot localization is given,with an emphasis on the main problems of SLAM and solutions to them. Meanwhile,feature extraction in an indoor environment and the principles of data association are discussed. Finally, future trend in this field is pointed out.

     

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