Research on Mobile Robot SLAM in Dynamic Environment

被引：3
|
作者：
Chen, Bai-Fan [1 ]
Cai, Zi-Xing [1 ]
机构：
[1] Cent South Univ, Sch Informat Sci & Engn, Changsha 410083, Peoples R China
来源：
MECHANICAL AND ELECTRONICS ENGINEERING III, PTS 1-5 | 2012年 / 130-134卷
关键词：
Dynamic environments; mobile robot; simultaneous localization and mapping; SIMULTANEOUS LOCALIZATION; DATA ASSOCIATION;
D O I：
10.4028/www.scientific.net/AMM.130-134.232
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A SLAMiDE (SLAM in Dynamic Environments) system is designed and realized in the paper, which supplies a holistic framework and a series of implementation methods for mobile robot SLAM in dynamic environments. A uniform target model is proposed in SLAMiDE system. The dynamic targets and static targets and the mobile robot pose are estimated simultaneously, by synthesized the research of the data association and dynamic targets detection and static SLAM based on local maps. Finally, the results of the experimental test prove that the SLAMiDE system can realize dynamic objects detection and mapping and location correctly.
引用
收藏
页码：232 / 238
页数：7
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