机电工程技术2016，Vol.45Issue(9)：11-16,6.DOI:10.3969/j.issn.1009-9492.2016.09.003
一种强化特征的分层构图与定位算法
A Multi-Layered SLAM Algorithm Using Feature Enhancement
摘要
Abstract
In the light of difference features showed at different height in a structured environment, a approach introducing Cellular Automata (CA) into the iterative process of traditional SLAM algorithm while doing multi-layered SLAM is proposed. The method includes two steps:(1) a closed-loop mechanism of SLAM-CA enhanced-Relocation is established at the top to build a structured environment map. (2) the CA enhanced mechanism is also applied to the obstacles layer mapping at the buttom of the environment. Experiments were conducted that show the improved algorithm creates more consistent maps and lower uncertainty localisation trajectories by using CA feature enhancement in multi-layer than the conventional approach.关键词
同时定位与构图/元胞自动机/分层/自主移动机器人Key words
SLAM/CA/multi-layered/autonomous mobile robot分类
信息技术与安全科学引用本文复制引用
苏泽荣,刘冠峰,陈炜楠,徐保来,管贻生..一种强化特征的分层构图与定位算法[J].机电工程技术,2016,45(9):11-16,6.基金项目
国家自然科学基金项目（编号51375095）；国家基金委－广东省联合基金重点项目（编号U1401240）；国家国际科技合作专项 （）
