计算机工程与应用2011，Vol.47Issue(22)：209-212,4.DOI:10.3778/j.issn.1002-8331.2011.22.057
基于平方根UKF的SLAM算法
Square root Unscented Kalman Filter based SLAM
摘要
Abstract
Simultaneous Localization and Mapping (SLAM) is concerned to be the key point to realize the real autonomy of mobile robot.Unscented Kalman Filter(UKP) is widely applied in SLAM problem because of its directly using of nonlinear modcl.Conceming that square root filter can ensure non-negative definite of the covariance matrix.This article introduces square root unscented Kalman filter into SLAM problem and ensures its stability.This algorithm also gains a more accurate estimation compared to UICF based SLAM.Simulation results show that this algorithm is effective.关键词
同步定位与地图构建/无迹卡尔曼滤波/移动机器人Key words
Simultaneous Localization and Mapping/Unscented Kalman filter/mobile robot分类
信息技术与安全科学引用本文复制引用
李树荣,倪朋飞..基于平方根UKF的SLAM算法[J].计算机工程与应用,2011,47(22):209-212,4.基金项目
国家自然科学基金(the National Natural Science Foundation of China under Grant No.60974039) （the National Natural Science Foundation of China under Grant No.60974039）
中国科学院数学学机械化重点实验室开放课题资助 （）
山东省东营市科技攻关项目资助. （）
