摘要
介绍了一种基于粒子滤波的移动机器人同时定位与地图创建方法。通过旋转超声传感器获得环境信息,利用贝叶斯规则更新栅格地图,然后利用粒子滤波对机器人进行定位,之后地图更新和机器人定位交替进行,直到将整个环境探测完毕。仿真结果表明机器人能较好的完成环境探测的任务。
This paper introduces a method of simultaneous localization and mapping. The environment information is obtained by a rotary ultrasonic range finder. The occupancy gird map and the pose of the robot are updated using bayesian formula and particle filtering, respectively. Mapping and localization are performed recursively until the whole map is completely set up. The simulation result indicates that the task of detecting environment is accomplished successfully.
出处
《制造业自动化》
北大核心
2007年第2期57-59,78,共4页
Manufacturing Automation
基金
国家自然科学基金资助项目(60475028)
教育部留学回国启动基金资助项目
