传感技术学报2017，Vol.30Issue(6)：916-921,6.DOI:10.3969/j.issn.1004-1699.2017.06.019
基于姿态测量模块和闭环检测算法的仿生SLAM研究
Bio-Inspired SLAM Based on Gesture Measuring and Closed-Loop Detection
摘要
Abstract
There has a relatively high accuracy on sensors in the Simultaneous Localization and Mapping ( SLAM ) problem,but odometer drift appears on account of accumulative errors for a long time,and this kind of accumulated error can be corrected by adding closed-loop detection to the local view cells,which is based on visual odometry of RatSLAM system,and this system has a good performance on robustness under the circumstance of static environ-ment. However,speed acquired from the visual odometry is incorrect in complex scenarios such as moving obstacles, which leads to large deviation during navigation,and sometimes this model is unable to relocate the surroundings and correct trajectory. Combined with the two algorithms above,bio-inspired SLAM based on gesture measuring and closed-loop detection is presented,and experiments show that in contrast to the RatSLAM system with only closed-loop detection or the system with only gesture measuring model,the new system proposed in this paper adapts to the navigation in a long time and has fairly better robustness.关键词
同步定位与地图构建/仿生导航/闭环检测/姿态测量模块/传感器应用/移动机器人Key words
simultaneous localization and mapping/bio-inspired navigation/closed-loop detection/gesture measuring model/sensor applications/mobile robots分类
信息技术与安全科学引用本文复制引用
许曈,凌有铸,陈孟元,王伟..基于姿态测量模块和闭环检测算法的仿生SLAM研究[J].传感技术学报,2017,30(6):916-921,6.基金项目
2016年安徽高校自然科学研究项目( KJ2016A794) （ KJ2016A794）
2016安徽工程大学研究生实践与创新基金项目( Y040116004) （ Y040116004）
