基于粒子滤波器的移动机器人定位和地图创建研究进展

A Review on Mobile Robot Localization and Map-building Algorithms Based on Particle Filters

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．

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.