智能系统学报2015，Vol.10Issue(5)：655-662,8.DOI:10.11992/tis.201403017
测距式传感器同时定位与地图创建综述
A survey of range-only SLAM for mobile robots
摘要
Abstract
This paper details the research on simultaneous localization and mapping ( SLAM ) for mobile robots, currently a hot spot in robotics. The essence of range-only SLAM is online extraction and representation of range in-formation. The basic idea, key technology, and solution for range-only SLAM are discussed; then a performance comparison of the fundamental methods is made. Three of the most commonly used methods:Kalman filter, particle filter and singular value decomposition are discussed in detail, emphasizing the realization process and some practi-cal problems. Further research, on the problems, improvements, and development prospects for range-only SLAM, is discussed.关键词
移动机器人/测距/扩展卡尔曼滤波/粒子滤波/奇异值分解/同时定位与地图创建Key words
mobile robot/range-only/Kalman filter/particle filter/singular value decomposition/simultaneous lo-calization and mapping ( SLAM)分类
信息技术与安全科学引用本文复制引用
刘建华,刘华平,杨建国,高蒙,孙富春..测距式传感器同时定位与地图创建综述[J].智能系统学报,2015,10(5):655-662,8.基金项目
国家高技术研究发展计划资助项目(2007AA04Z232) （2007AA04Z232）
国家自然科学基金资助项目(61075027,91120011) （61075027,91120011）
河北省自然科学基金资助项目( F2010001106,F2013210094) . （ F2010001106,F2013210094）
