基于粒子滤波器的移动机器人定位和地图创建研究进展

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余洪山, 王耀南. 基于粒子滤波器的移动机器人定位和地图创建研究进展[J]. 机器人, 2007, 29(3): 281-289,297.. YU Hong-shan, WANG Yao-nan. A Review on Mobile Robot Localization and Map-building Algorithms Based on Particle Filters. ROBOT, 2007, 29(3): 281-289,297..

摘要首先，对粒子滤波器的原理和研究进展进行了综述．然后，介绍了基于粒子滤波器的移动机器人定位研究进展．其次，给出了粒子滤波器在移动机器人地图创建领域的最新成果．最后，对粒子滤波器在移动机器人研究领域的未来发展方向进行了展望．

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	余洪山
	王耀南

关键词 ：粒子滤波器, 蒙特卡洛定位, 移动机器人地图创建, 移动机器人定位, 移动机器人同步地图创建和定位

Abstract：Firstly,the research progress and principle of particle filters are overviewed.Secondly,the progress of mobile robot localization based on particle filters is described.Thirdly,the recent works of particle filters in map-building for mobile robots are presented.Finally,the future directions of particle filters in mobile robot are summarized.

Key words： particle filter Monte Carlo localization mobile robot map-building mobile robot localization SLAM

收稿日期: 2006-07-03

TP24

基金资助:国家自然科学基金资助项目（60375008）；教育部博士点基金资助项目（20030532004）；湖南大学优秀博士论文创新基金资助项目（521218006）

作者简介: 余洪山（1980- ），男，博士生．研究领域：移动机器人导航控制，机器视觉等．
王耀南（1957- ），男，博士，教授．研究领域：智能机器人，智能信息处理和智能控制等．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2007/V29/I3/281

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