A Mobile Robot Localization and Map Building Algorithm and Simulation

被引：0
|
作者：
Zhang Qian [1 ]
Pei Hailong [1 ]
Zhang Cheng [1 ]
机构：
[1] S China Univ Technol, Minist Educ, Key Lab Autonomous Syst & Networked Control, Guangzhou 510640, Peoples R China
来源：
2014 33RD CHINESE CONTROL CONFERENCE (CCC) | 2014年
关键词：
Mobile Robot; Extended Kalman Filtering; Localization; Map; Simulation; MARKOV LOCALIZATION;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In order to realize the localization demand of mobile robot, the motion model and observation model of mobile robot were analyzed, and the mobile robot real-time localization algorithm of given map environment based on extended Kalman filtering was described. Besides, the algorithm was simulated. The landmark model of map was built in the process of simulation, and the landmark that was observed under control action was used to correct the location of mobile robot, by which the positioning of robot was realized. The result of simulation shows that the positional accuracy of this algorithm is very high. In addition, the construction method of real-time map of mobile robot was described on extended Kalman filtering under unknown environment based on this. Experimental result shows that this algorithm can identify the location of landmark accurately so as to give reference for the real-time positioning and mapping construction of mobile robot.
引用
收藏
页码：3339 / 3344
页数：6
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