[1]LIU Jianhua,LIU Huaping,YANG Jianguo,et al.A survey of range-only SLAM for mobile robots[J].CAAI Transactions on Intelligent Systems,2015,10(5):655-662.[doi:10.11992/tis.201403017]
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A survey of range-only SLAM for mobile robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 10 Number of periods: 2015 5 Page number: 655-662 Column: 综述 Public date: 2015-10-25
Title:
A survey of range-only SLAM for mobile robots
Author(s):
LIU Jianhua1; 2;  LIU Huaping3;  YANG Jianguo1;  GAO Meng2;  SUN Fuchun3
1. College of Mechanical Engineering, Donghua University, Shanghai 201620, China;
2. College of Electrical and Electronic Engineering, Shijiazhuang Tiedao University, Shijiazhuang 050043, China;
3. Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing 100084, China
Keywords:
mobile robot; range-only; Kalman filter; particle filter; singular value decomposition; simultaneous localization and mapping (SLAM)
CLC:
TP24
DOI:
10.11992/tis.201403017
Abstract:
This paper details the research on simultaneous localization and mapping (SLAM) for mobile robots, currently a hot spot in robotics. The essence of range-only SLAM is online extraction and representation of range information. The basic idea, key technology, and solution for range-only SLAM are discussed; then a performance comparison of the fundamental methods is made. Three of the most commonly used methods:Kalman filter, particle filter and singular value decomposition are discussed in detail, emphasizing the realization process and some practical problems. Further research, on the problems, improvements, and development prospects for range-only SLAM, is discussed.
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