微型电脑应用2018，Vol.34Issue(3)：20-24,5.
基于自适应方法的移动机器人同时定位与地图构建研究
Research on Simultaneous Localization and Map Construction of Mobile Robot Based on Adaptive Method
摘要
Abstract
The traditional Rao-Black particle filter is used in the research of related problems mobile robot synchronization positioning and map building.The algorithm is too complex,occupies more memory space,real-time property is not good.This ppaper proposes an improved algorithm.In a set of particles the statistical properties of particles are consistent.The improved algorithm selects a representative particle,updates the Kalman filter step by step,and repeats the application with the same particle.The author chose the first floor of a school research and development center as the experimental environment,and applied Pioneer Ⅲ-DX mobile robot to carry out the experiment.The experimental results show that this method not only can effectively protect the grid map accuracy,but also can improve the operation speed of the system,and further reduce the operation complexity.关键词
自适应方法/移动机器人/同时定位与地图构建Key words
ADaptive method/Mobile robot/Simultaneous localization and map construction分类
信息技术与安全科学引用本文复制引用
陈群英..基于自适应方法的移动机器人同时定位与地图构建研究[J].微型电脑应用,2018,34(3):20-24,5.基金项目
陕西省教育厅2017年度专项(17JK1058) （17JK1058）
